diff --git a/flight/targets/boards/revonano/firmware/Makefile b/flight/targets/boards/revonano/firmware/Makefile
index 97efe7c91..c67a2f368 100644
--- a/flight/targets/boards/revonano/firmware/Makefile
+++ b/flight/targets/boards/revonano/firmware/Makefile
@@ -23,6 +23,9 @@ endif
 include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
+# REVO C++ support 
+USE_CXX = YES
+
 # ARM DSP library
 USE_DSP_LIB ?= NO
 
@@ -66,7 +69,7 @@ ifndef TESTAPP
     ## Application Core
     SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/System/systemmod.c
-    SRC += $(OPSYSTEM)/revolution.c
+    CPPSRC += $(OPSYSTEM)/revolution.cpp    
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(FLIGHTLIB)/instrumentation.c
@@ -87,6 +90,7 @@ ifndef TESTAPP
     SRC += $(FLIGHTLIB)/plans.c
     SRC += $(FLIGHTLIB)/WorldMagModel.c
     SRC += $(FLIGHTLIB)/insgps13state.c
+    CPPSRC += $(FLIGHTLIB)/mini_cpp.cpp
     
     SRC += $(FLIGHTLIB)/auxmagsupport.c
     ## UAVObjects
diff --git a/flight/targets/boards/revonano/firmware/UAVObjects.inc b/flight/targets/boards/revonano/firmware/UAVObjects.inc
index aa0a1b94d..ab874c555 100644
--- a/flight/targets/boards/revonano/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revonano/firmware/UAVObjects.inc
@@ -19,6 +19,9 @@
 # These are the UAVObjects supposed to be build as part of the OpenPilot target
 # (all architectures)
 UAVOBJSRCFILENAMES =
+UAVOBJSRCFILENAMES += statusgrounddrive
+UAVOBJSRCFILENAMES += pidstatus
+UAVOBJSRCFILENAMES += statusvtolland
 UAVOBJSRCFILENAMES += vtolselftuningstats
 UAVOBJSRCFILENAMES += accelgyrosettings
 UAVOBJSRCFILENAMES += accessorydesired
@@ -61,6 +64,7 @@ UAVOBJSRCFILENAMES += gpsextendedstatus
 UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
 UAVOBJSRCFILENAMES += vtolpathfollowersettings
+UAVOBJSRCFILENAMES += groundpathfollowersettings
 UAVOBJSRCFILENAMES += homelocation
 UAVOBJSRCFILENAMES += i2cstats
 UAVOBJSRCFILENAMES += manualcontrolcommand
diff --git a/flight/targets/boards/revonano/firmware/revolution.c b/flight/targets/boards/revonano/firmware/revolution.cpp
similarity index 98%
rename from flight/targets/boards/revonano/firmware/revolution.c
rename to flight/targets/boards/revonano/firmware/revolution.cpp
index 1441a40d9..268325b26 100644
--- a/flight/targets/boards/revonano/firmware/revolution.c
+++ b/flight/targets/boards/revonano/firmware/revolution.cpp
@@ -31,7 +31,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
+extern "C" {
 #include "inc/openpilot.h"
 #include <uavobjectsinit.h>
 
@@ -45,6 +45,8 @@
 #if INCLUDE_TEST_TASKS
 static uint8_t sdcard_available;
 #endif
+char Buffer[1024];
+uint32_t Cache;
 
 /* Function Prototypes */
 #if INCLUDE_TEST_TASKS
@@ -72,6 +74,7 @@ static void initTask(void *parameters);
 
 /* Prototype of generated InitModules() function */
 extern void InitModules(void);
+}
 
 /**
  * OpenPilot Main function:
@@ -114,7 +117,6 @@ int main()
 
     return 0;
 }
-
 /**
  * Initialisation task.
  *