diff --git a/MILESTONES.txt b/MILESTONES.txt
index 19480200c..3895e977b 100644
--- a/MILESTONES.txt
+++ b/MILESTONES.txt
@@ -117,6 +117,10 @@ C: Sami Korhonen (Sambas)
 D: May 2011
 V: http://vimeo.com/24258192
 
+M: First CopterControl flip on a Flybarless Heli
+C: 
+D: 
+V: 
 
 
 
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index bdfa8e2b5..21fa59f97 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -198,6 +198,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_crc.c
 SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
 SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index a2a8e667b..a316f4cc3 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -186,6 +186,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_crc.c
 SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_bmp085.c
diff --git a/flight/PiOS/Common/pios_crc.c b/flight/PiOS/Common/pios_crc.c
new file mode 100644
index 000000000..548ba2648
--- /dev/null
+++ b/flight/PiOS/Common/pios_crc.c
@@ -0,0 +1,74 @@
+/*
+ *  pios_crc.c
+ *  OpenPilotOSX
+ *
+ *  Created by James Cotton on 6/4/11.
+ *  Copyright 2011 OpenPilot. All rights reserved.
+ *
+ */
+
+#include "pios.h"
+
+// CRC lookup table
+static const uint8_t crc_table[256] = {
+	0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+	0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
+	0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+	0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
+	0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
+	0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+	0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+	0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
+	0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+	0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
+	0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
+	0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+	0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
+	0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+	0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+	0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
+};
+
+/**
+ * Update the crc value with new data.
+ *
+ * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
+ * using the configuration:
+ *    Width        = 8
+ *    Poly         = 0x07
+ *    XorIn        = 0x00
+ *    ReflectIn    = False
+ *    XorOut       = 0x00
+ *    ReflectOut   = False
+ *    Algorithm    = table-driven
+ *
+ * \param crc      The current crc value.
+ * \param data     Pointer to a buffer of \a data_len bytes.
+ * \param length   Number of bytes in the \a data buffer.
+ * \return         The updated crc value.
+ */
+uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
+{
+	return crc_table[crc ^ data];
+}
+
+/*
+ * @brief Update a CRC with a data buffer
+ * @param[in] crc Starting CRC value
+ * @param[in] data Data buffer
+ * @param[in] length Number of bytes to process
+ * @returns Updated CRC
+ */
+uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
+{
+	// use registers for speed
+	register int32_t len = length;
+	register uint8_t crc8 = crc;
+	register const uint8_t *p = data;
+	
+	while (len--)
+		crc8 = crc_table[crc8 ^ *p++];
+	
+	return crc8;
+}
+
diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index 5c8248f54..ee3abe6f9 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -56,7 +56,7 @@ struct fileHeader {
 } __attribute__((packed));
 
 
-#define OBJECT_TABLE_MAGIC 0x85FB3C33
+#define OBJECT_TABLE_MAGIC 0x85FB3C34
 #define OBJ_MAGIC          0x3015AE71
 #define OBJECT_TABLE_START 0x00000010
 #define OBJECT_TABLE_END   0x00001000
@@ -194,6 +194,7 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) 
 {
 	uint32_t objId = UAVObjGetID(obj);
+	uint8_t crc = 0;
 
 	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
 	
@@ -215,14 +216,23 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 		return -2;
 
 	// Save header
-	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.	
-	
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.		
 	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -3;
-		
+	
+	// Update CRC
+	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
+	
 	// Save data
 	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
 		return -4;
+
+	// Update CRC
+	crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
+
+	// Save CRC (written so will work when CRC changes to uint16)
+	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
+		return -4;
 	
 	return 0;
 }
@@ -236,12 +246,19 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
  * @retval -2 if unable to retrieve object header
  * @retval -3 if loaded data instId or objId don't match
  * @retval -4 if unable to retrieve instance data
+ * @retval -5 if unable to read CRC
+ * @retval -6 if CRC doesn't match
  * @note This uses one sector on the flash chip per object so that no buffering in ram
  * must be done when erasing the sector before a save
  */
 int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 {
 	uint32_t objId = UAVObjGetID(obj);
+	uint16_t objSize = UAVObjGetNumBytes(obj);
+	uint8_t crc = 0;
+	uint8_t crcFlash = 0;
+	const uint8_t crc_read_step = 8;
+	uint8_t crc_read_buffer[crc_read_step];
 	
 	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
 		
@@ -256,13 +273,31 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -2;
 	
+	// Update CRC
+	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
+
 	if((header.id != objId) || (header.instId != instId))
 		return -3;
+
+	// To avoid having to allocate the RAM for a copy of the object, we read by chunks
+	// and compute the CRC
+	for(uint32_t i = 0; i < objSize; i += crc_read_step) {
+		PIOS_Flash_W25X_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
+		uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
+		crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
+	}
+
+	// Read CRC (written so will work when CRC changes to uint16)
+	if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
+		return -5;
 	
+	if(crc != crcFlash)
+		return -6;
+
 	// Read the instance data
-	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objSize) != 0)
 		return -4;
-	
+
 	return 0;
 }
 
diff --git a/flight/PiOS/inc/pios_crc.h b/flight/PiOS/inc/pios_crc.h
new file mode 100644
index 000000000..3a64f8bab
--- /dev/null
+++ b/flight/PiOS/inc/pios_crc.h
@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_CRC CRC Functions
+ * @{
+ *
+ * @file       pios_crc.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      CRC functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
+uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index 8362a3af4..ff7cd1af5 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -132,6 +132,8 @@
 #include <usb_lib.h>
 #endif
 
+#include <pios_crc.h>
+
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
 #endif /* PIOS_H */
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 7095dfad5..0fc7ccf73 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -2736,6 +2736,8 @@
 		65E6E06112E031E300058553 /* STM32103CB_CC_Rev1.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_CC_Rev1.h; sourceTree = "<group>"; };
 		65E6E06212E031E300058553 /* STM32103CB_PIPXTREME_Rev1.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_PIPXTREME_Rev1.h; sourceTree = "<group>"; };
 		65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
+		65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
+		65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
 		65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
 		65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
 		65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
@@ -7660,6 +7662,7 @@
 				6528CCB412E406B800CF5144 /* pios_adxl345.c */,
 				6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
 				65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
+				65E8C743139A6D0900E1F979 /* pios_crc.c */,
 			);
 			name = Common;
 			path = ../../PiOS/Common;
@@ -7669,13 +7672,7 @@
 			isa = PBXGroup;
 			children = (
 				6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
-				6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
-				6526645B122DF972006F9A3C /* pios_wdg.h */,
-				651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
-				651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
-				651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
-				651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
-				651CF9F3120B700D00EEFD70 /* usb_conf.h */,
+				65E8C745139A6D1A00E1F979 /* pios_crc.h */,
 				65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
 				65E6E09912E037C800058553 /* pios_adc_priv.h */,
 				65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */,
@@ -7684,6 +7681,7 @@
 				65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
 				65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
 				65E8F04011EFF25C00BBF654 /* pios_exti.h */,
+				6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
 				65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
 				65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
 				65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
@@ -7709,6 +7707,12 @@
 				65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
 				65E8F05311EFF25C00BBF654 /* pios_usb.h */,
 				65E8F05511EFF25C00BBF654 /* pios_usb_hid.h */,
+				651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
+				651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
+				651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
+				651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
+				6526645B122DF972006F9A3C /* pios_wdg.h */,
+				651CF9F3120B700D00EEFD70 /* usb_conf.h */,
 				65E8F05611EFF25C00BBF654 /* stm32f10x_conf.h */,
 			);
 			name = inc;
diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index 12bbff54d..7d30bee7b 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -705,24 +705,24 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
 int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 {
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	  ObjectList *objEntry = (ObjectList *) obj;
+	ObjectList *objEntry = (ObjectList *) obj;
 
-	  if (objEntry == NULL)
-		    return -1;
+	if (objEntry == NULL)
+		return -1;
 
-	  ObjectInstList *instEntry = getInstance(objEntry, instId);
+	ObjectInstList *instEntry = getInstance(objEntry, instId);
 
-	  if (instEntry == NULL)
-		    return -1;
+	if (instEntry == NULL)
+		return -1;
 
-	  if (instEntry->data == NULL)
-		    return -1;
+	if (instEntry->data == NULL)
+		return -1;
 
-	  // Fire event on success
-	  if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
-		    sendEvent(objEntry, instId, EV_UNPACKED);
-	  else
-		    return -1;
+	// Fire event on success
+	if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
+		sendEvent(objEntry, instId, EV_UNPACKED);
+	else
+		return -1;
 #endif
 
 #if defined(PIOS_INCLUDE_SDCARD)
diff --git a/flight/UAVTalk/uavtalk.c b/flight/UAVTalk/uavtalk.c
index 57136db90..48ad03f53 100644
--- a/flight/UAVTalk/uavtalk.c
+++ b/flight/UAVTalk/uavtalk.c
@@ -50,25 +50,6 @@
 
 #define MAX_PACKET_LENGTH	(MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
 
-// CRC lookup table
-static const uint8_t crc_table[256] = {
-	0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
-	0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
-	0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
-	0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
-	0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
-	0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
-	0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
-	0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
-	0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
-	0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
-	0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
-	0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
-	0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
-	0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
-	0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
-	0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
-};
 
 // Private types
 typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxState;
@@ -85,8 +66,6 @@ static uint8_t txBuffer[MAX_PACKET_LENGTH];
 static UAVTalkStats stats;
 
 // Private functions
-static uint8_t updateCRCbyte(uint8_t crc, const uint8_t data);
-static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
 static int32_t objectTransaction(UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout);
 static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
 static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
@@ -268,7 +247,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 				break;
 			
 			// Initialize and update the CRC
-			cs = updateCRCbyte(0, rxbyte);
+			cs = PIOS_CRC_updateByte(0, rxbyte);
 			
 			rxPacketLength = 1;
 			
@@ -278,7 +257,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 		case STATE_TYPE:
 			
 			// update the CRC
-			cs = updateCRCbyte(cs, rxbyte);
+			cs = PIOS_CRC_updateByte(cs, rxbyte);
 			
 			if ((rxbyte & TYPE_MASK) != TYPE_VER)
 			{
@@ -297,7 +276,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 		case STATE_SIZE:
 			
 			// update the CRC
-			cs = updateCRCbyte(cs, rxbyte);
+			cs = PIOS_CRC_updateByte(cs, rxbyte);
 			
 			if (rxCount == 0)
 			{
@@ -322,7 +301,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 		case STATE_OBJID:
 			
 			// update the CRC
-			cs = updateCRCbyte(cs, rxbyte);
+			cs = PIOS_CRC_updateByte(cs, rxbyte);
 			
 			objId += rxbyte << (8*(rxCount++));
 
@@ -393,7 +372,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 		case STATE_INSTID:
 			
 			// update the CRC
-			cs = updateCRCbyte(cs, rxbyte);
+			cs = PIOS_CRC_updateByte(cs, rxbyte);
 			
 			instId += rxbyte << (8*(rxCount++));
 
@@ -413,7 +392,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
 		case STATE_DATA:
 			
 			// update the CRC
-			cs = updateCRCbyte(cs, rxbyte);
+			cs = PIOS_CRC_updateByte(cs, rxbyte);
 			
 			rxBuffer[rxCount++] = rxbyte;
 			if (rxCount < length)
@@ -681,7 +660,7 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
 	txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF);
 	
 	// Calculate checksum
-	txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
+	txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset+length);
 	
 	// Send buffer
 	if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH);
@@ -720,7 +699,7 @@ static int32_t sendNack(uint32_t objId)
 	txBuffer[3] = (uint8_t)(((dataOffset) >> 8) & 0xFF);
 
 	// Calculate checksum
-	txBuffer[dataOffset] = updateCRC(0, txBuffer, dataOffset);
+	txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset);
 
 	// Send buffer
 	if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+CHECKSUM_LENGTH);
@@ -732,42 +711,6 @@ static int32_t sendNack(uint32_t objId)
 	return 0;
 }
 
-
-/**
- * Update the crc value with new data.
- *
- * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
- * using the configuration:
- *    Width        = 8
- *    Poly         = 0x07
- *    XorIn        = 0x00
- *    ReflectIn    = False
- *    XorOut       = 0x00
- *    ReflectOut   = False
- *    Algorithm    = table-driven
- *
- * \param crc      The current crc value.
- * \param data     Pointer to a buffer of \a data_len bytes.
- * \param length   Number of bytes in the \a data buffer.
- * \return         The updated crc value.
- */
-static uint8_t updateCRCbyte(uint8_t crc, const uint8_t data)
-{
-	return crc_table[crc ^ data];
-}
-static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
-{
-	// use registers for speed
-	register int32_t len = length;
-	register uint8_t crc8 = crc;
-	register const uint8_t *p = data;
-	
-	while (len--)
-		crc8 = crc_table[crc8 ^ *p++];
-	
-	return crc8;
-}
-
 /**
  * @}
  * @}
diff --git a/ground/uavobjgenerator/uavobjectparser.cpp b/ground/uavobjgenerator/uavobjectparser.cpp
index 149520cbf..2ab246ae8 100644
--- a/ground/uavobjgenerator/uavobjectparser.cpp
+++ b/ground/uavobjgenerator/uavobjectparser.cpp
@@ -237,6 +237,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
  * Calculate the unique object ID based on the object information.
  * The ID will change if the object definition changes, this is intentional
  * and is used to avoid connecting objects with incompatible configurations.
+ * The LSB is set to zero and is reserved for metadata
  */
 void UAVObjectParser::calculateID(ObjectInfo* info)
 {
@@ -252,7 +253,7 @@ void UAVObjectParser::calculateID(ObjectInfo* info)
         hash = updateHash(info->fields[n]->type, hash);
     }
     // Done
-    info->id = hash;
+    info->id = hash & 0xFFFFFFFE;
 }
 
 /**
@@ -263,7 +264,7 @@ void UAVObjectParser::calculateID(ObjectInfo* info)
  */
 quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
 {
-    return (hash ^ ((hash<<5) + (hash>>2) + value)) & 0xFFFFFFFE;
+    return (hash ^ ((hash<<5) + (hash>>2) + value));
 }
 
 /**