diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp b/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
index 6bad5d6c7..4f0fc373a 100644
--- a/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
@@ -9,215 +9,238 @@ int main(int argc, char *argv[])
     QCoreApplication a(argc, argv);
     if(argc>1)
     {
-    bool debug=false;
-    OP_DFU::Actions action;
-    QString file;
-    QString description;
-    int device=-1;
-    QStringList args;
-    for(int i=0;i<argc;++i)
-    {
-        args<<argv[i];
-    }
+        bool verify;
+        bool debug=false;
+        OP_DFU::Actions action;
+        QString file;
+        QString description;
+        int device=-1;
+        QStringList args;
+        for(int i=0;i<argc;++i)
+        {
+            args<<argv[i];
+        }
 
-    if(args.contains("-?"))
-    {
-        cout<<"| Commands\n";
-        cout<<"| \n";
-        cout<<"| -ls                  : lists available devices\n";
-        cout<<"| -p <file>            : program hw (requires:-d - optionals:-v,-w)\n";
-        cout<<"| -dn <file>           : download firmware to file (requires:-d)\n";
-        cout<<"| -dd <file>           : download discription (requires:-d)\n";
-        cout<<"| -d <number Of Device : (requires: -p or -dn)\n";
-        cout<<"| -w <description>     : (requires: -p)\n";
-        cout<<"| -ca <file>           : compares byte by byte current firmware with file\n";
-        cout<<"| -ch <file>           : compares hash of current firmware with file\n";
-        cout<<"| -s                   : requests status of device\n";
-        return 0;
+        if(args.contains("-?"))
+        {
+            cout<<"| Commands\n";
+            cout<<"| \n";
+            cout<<"| -ls                  : lists available devices\n";
+            cout<<"| -p <file>            : program hw (requires:-d - optionals:-v,-w)\n";
+            cout<<"| -v                   : verify     (requires:-d)\n";
+            cout<<"| -dn <file>           : download firmware to file (requires:-d)\n";
+            cout<<"| -dd <file>           : download discription (requires:-d)\n";
+            cout<<"| -d <number Of Device : (requires: -p or -dn)\n";
+            cout<<"| -w <description>     : (requires: -p)\n";
+            cout<<"| -ca <file>           : compares byte by byte current firmware with file\n";
+            cout<<"| -ch <file>           : compares hash of current firmware with file\n";
+            cout<<"| -s                   : requests status of device\n";
+            return 0;
 
 
-    }
-    else if(args.contains("-dd"))
-    {
-        action=OP_DFU::downdesc;
-        if(args.contains(DEVICE))
+        }
+        else if(args.contains(DOWNDESCRIPTION))
         {
-            if(args.indexOf(DEVICE)+1<args.length())
+            action=OP_DFU::downdesc;
+            if(args.contains(DEVICE))
             {
-                device=(args[args.indexOf(DEVICE)+1]).toInt();
+                if(args.indexOf(DEVICE)+1<args.length())
+                {
+                    device=(args[args.indexOf(DEVICE)+1]).toInt();
+                }
             }
         }
-    }
-    else if(args.contains("-p"))
-    {
-        if(args.contains("-w"))
+        else if(args.contains(PROGRAMFW))
         {
-            if(args.indexOf("-w")+1<args.length())
+            if(args.contains(VERIFY))
             {
-                description=(args[args.indexOf("-w")+1]);
+                verify=true;
             }
+            else
+                verify=false;
+            if(args.contains(PROGRAMDESC))
+            {
+                if(args.indexOf(PROGRAMDESC)+1<args.length())
+                {
+                    description=(args[args.indexOf(PROGRAMDESC)+1]);
+                }
 
-        }
-        action=OP_DFU::program;
-        if(args.contains(DEVICE))
-        {
-            if(args.indexOf(DEVICE)+1<args.length())
-            {
-                device=(args[args.indexOf(DEVICE)+1]).toInt();
             }
-            if(args.indexOf("-p")+1<args.length())
+            action=OP_DFU::program;
+            if(args.contains(DEVICE))
             {
-                file=args[args.indexOf("-p")+1];
-                           }
-        }
-        else
-        {
-            cout<<("Device not specified\n");
-            return -1;
-        }
-        if(args.contains("-v"))
-            action=OP_DFU::programandverify;
-    }
-    else if(args.contains("-ch") || args.contains("-ca"))
-    {
-        int index;
-        if(args.contains("-ch"))
-        {
-            index=args.indexOf("-ch");
-            action=OP_DFU::comparehash;
-        }
-        else
-        {
-            index=args.indexOf("-ca");
-            action=OP_DFU::compareall;
-        }
-        if(args.contains(DEVICE))
-        {
-            if(args.indexOf(DEVICE)+1<args.length())
-            {
-                device=(args[args.indexOf(DEVICE)+1]).toInt();
+                if(args.indexOf(DEVICE)+1<args.length())
+                {
+                    device=(args[args.indexOf(DEVICE)+1]).toInt();
+                }
+                if(args.indexOf(PROGRAMFW)+1<args.length())
+                {
+                    file=args[args.indexOf(PROGRAMFW)+1];
+                }
             }
-            if(index+1<args.length())
+            else
             {
-                file=args[index+1];
+                cout<<("Device not specified\n");
+                return -1;
+            }
+            if(args.contains(VERIFY))
+                action=OP_DFU::programandverify;
+        }
+        else if(args.contains(COMPAREHASH) || args.contains(COMPAREALL))
+        {
+            int index;
+            if(args.contains(COMPAREHASH))
+            {
+                index=args.indexOf(COMPAREHASH);
+                action=OP_DFU::comparehash;
+            }
+            else
+            {
+                index=args.indexOf(COMPAREALL);
+                action=OP_DFU::compareall;
+            }
+            if(args.contains(DEVICE))
+            {
+                if(args.indexOf(DEVICE)+1<args.length())
+                {
+                    device=(args[args.indexOf(DEVICE)+1]).toInt();
+                }
+                if(index+1<args.length())
+                {
+                    file=args[index+1];
+                }
+            }
+            else
+            {
+                cout<<"Device not specified";
+                return -1;
             }
         }
-        else
+        else if(args.contains(DOWNLOAD))
         {
-            cout<<"Device not specified";
-            return -1;
-        }
-    }
-    else if(args.contains(DOWNLOAD))
-    {
-        int index;
+            int index;
             index=args.indexOf(DOWNLOAD);
             action=OP_DFU::download;
 
-        if(args.contains(DEVICE))
-        {
-            if(args.indexOf(DEVICE)+1<args.length())
+            if(args.contains(DEVICE))
             {
-                device=(args[args.indexOf(DEVICE)+1]).toInt();
-            }
-            if(index+1<args.length())
-            {
-                file=args[index+1];
-            }
-        }
-        else
-        {
-            cout<<"Device not specified";
-            return -1;
-        }
-    }
-    else if(args.contains("-s"))
-    {
-        action=OP_DFU::statusreq;
-    }
-    else if(args.contains("-ls"))
-    {
-        action=OP_DFU::listdevs;
-    }
-    if((file.isEmpty()|| device==-1)  &&  action!=OP_DFU::downdesc && action!=OP_DFU::statusreq && action!=OP_DFU::listdevs)
-    {
-        cout<<"wrong parameters";
-        return -1;
-    }
-
-//    qDebug()<<"Action="<<(int)action;
-  //  qDebug()<<"File="<<file;
-  //  qDebug()<<"Device="<<device;
-  //  qDebug()<<"Action="<<action;
-    OP_DFU dfu(debug);
-    if(!dfu.enterDFU(0))
-    {
-        cout<<"Could not enter DFU mode\n";
-        return -1;
-    }
-    if(action!=OP_DFU::statusreq)
-    {
-        dfu.findDevices();
-        if(action==OP_DFU::listdevs)
-        {
-            cout<<"Found "<<dfu.numberOfDevices<<"\n";
-            for(int x=0;x<dfu.numberOfDevices;++x)
-            {
-                cout<<"Device #"<<x+1<<"\n";
-                cout<<"Device ID="<<dfu.devices[x].ID<<"\n";
-                cout<<"Device Readable="<<dfu.devices[x].Readable<<"\n";
-                cout<<"Device Writable="<<dfu.devices[x].Writable<<"\n";
-                cout<<"Device SizeOfCode="<<dfu.devices[x].SizeOfCode<<"\n";
-                cout<<"Device SizeOfHash="<<dfu.devices[x].SizeOfHash<<"\n";
-                cout<<"Device SizeOfDesc="<<dfu.devices[x].SizeOfDesc<<"\n";
-                cout<<"\n";
-            }
-            return 0;
-        }
-        else if (action==OP_DFU::program)
-        {
-            if(device>dfu.numberOfDevices)
-            {
-                cout<<"Error:Invalid Device";
-                return -1;
-            }
-            if(!dfu.enterDFU(device))
-            {
-                cout<<"Error:Could not enter DFU mode\n";
-                return -1;
-            }
-            OP_DFU::Status retstatus=dfu.UploadFirmware(file.toAscii());
-            if(retstatus!=OP_DFU::Last_operation_Success)
-            {
-                cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).data();
-                return -1;
-            }
-            if(!description.isEmpty())
-            {
-                retstatus=dfu.UploadDescription(description);
-                if(retstatus!=OP_DFU::Last_operation_Success)
+                if(args.indexOf(DEVICE)+1<args.length())
                 {
-                    cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).toLatin1().data();
-                    return -1;
+                    device=(args[args.indexOf(DEVICE)+1]).toInt();
+                }
+                if(index+1<args.length())
+                {
+                    file=args[index+1];
                 }
             }
-            cout<<"Uploading Succeded!\n";
+            else
+            {
+                cout<<"Device not specified";
+                return -1;
+            }
         }
-        else if (action==OP_DFU::download)
+        else if(args.contains(STATUSREQUEST))
         {
-            qint32 size=((OP_DFU::device)dfu.devices[device]).SizeOfCode;
+            action=OP_DFU::statusreq;
+        }
+        else if(args.contains(LISTDEVICES))
+        {
+            action=OP_DFU::listdevs;
+        }
+        if((file.isEmpty()|| device==-1)  &&  action!=OP_DFU::downdesc && action!=OP_DFU::statusreq && action!=OP_DFU::listdevs)
+        {
+            cout<<"wrong parameters";
+            return -1;
+        }
+
+        //    qDebug()<<"Action="<<(int)action;
+        //  qDebug()<<"File="<<file;
+        //  qDebug()<<"Device="<<device;
+        //  qDebug()<<"Action="<<action;
+        OP_DFU dfu(debug);
+        if(!dfu.enterDFU(0))
+        {
+            cout<<"Could not enter DFU mode\n";
+            return -1;
+        }
+        if(action!=OP_DFU::statusreq)
+        {
+            dfu.findDevices();
+            if(action==OP_DFU::listdevs)
+            {
+                cout<<"Found "<<dfu.numberOfDevices<<"\n";
+                for(int x=0;x<dfu.numberOfDevices;++x)
+                {
+                    cout<<"Device #"<<x<<"\n";
+                    cout<<"Device ID="<<dfu.devices[x].ID<<"\n";
+                    cout<<"Device Readable="<<dfu.devices[x].Readable<<"\n";
+                    cout<<"Device Writable="<<dfu.devices[x].Writable<<"\n";
+                    cout<<"Device SizeOfCode="<<dfu.devices[x].SizeOfCode<<"\n";
+                    cout<<"Device SizeOfHash="<<dfu.devices[x].SizeOfHash<<"\n";
+                    cout<<"Device SizeOfDesc="<<dfu.devices[x].SizeOfDesc<<"\n";
+                    int size=((OP_DFU::device)dfu.devices[x]).SizeOfDesc;
+                    cout<<"Description:"<<dfu.DownloadDescription(size).toLatin1().data()<<"\n";
+                    cout<<"\n";
+                }
+                return 0;
+            }
+            else if (action==OP_DFU::program)
+            {
+                if(device>dfu.numberOfDevices)
+                {
+                    cout<<"Error:Invalid Device";
+                    return -1;
+                }
+                if(!dfu.enterDFU(device))
+                {
+                    cout<<"Error:Could not enter DFU mode\n";
+                    return -1;
+                }
+                OP_DFU::Status retstatus=dfu.UploadFirmware(file.toAscii(),verify);
+                if(retstatus!=OP_DFU::Last_operation_Success)
+                {
+                    cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).data();
+                    return -1;
+                }
+                if(!description.isEmpty())
+                {
+                    retstatus=dfu.UploadDescription(description);
+                    if(retstatus!=OP_DFU::Last_operation_Success)
+                    {
+                        cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).toLatin1().data();
+                        return -1;
+                    }
+                }
+                cout<<"Uploading Succeded!\n";
+            }
+            else if (action==OP_DFU::download)
+            {
+                if(device>dfu.numberOfDevices)
+                {
+                    cout<<"Error:Invalid Device";
+                    return -1;
+                }
+                if(!dfu.enterDFU(device))
+                {
+                    cout<<"Error:Could not enter DFU mode\n";
+                    return -1;
+                }
+                qint32 size=((OP_DFU::device)dfu.devices[device]).SizeOfCode;
+                bool ret=dfu.SaveByteArrayToFile(file.toAscii(),dfu.StartDownload(size,OP_DFU::FW));
+                return ret;
+
+            }
+            else if(action==OP_DFU::downdesc)
+            {
+                int size=((OP_DFU::device)dfu.devices[device]).SizeOfDesc;
+                cout<<"Description:"<<dfu.DownloadDescription(size).toLatin1().data();
+            }
 
         }
-        else if(action==OP_DFU::downdesc)
-        {
-            int size=((OP_DFU::device)dfu.devices[device]).SizeOfDesc;
-            cout<<"Description:"<<dfu.DownloadDescription(size).toLatin1().data();
-        }
+        return 0;
     }
-    return 0;
-}
 
-OP_DFU dfu(true);
+    OP_DFU dfu(true);
     dfu.enterDFU(0);
     //    dfu.enterDFU(1);
     //    dfu.StartUpload(4,OP_DFU::Descript);
@@ -234,12 +257,12 @@ OP_DFU dfu(true);
     //   dfu.UploadDescription(1,"jose manuel");
     // QString str=dfu.DownloadDescription(1,12);
     // dfu.JumpToApp();
-  //  dfu.findDevices();
+    //  dfu.findDevices();
 
-  //  dfu.UploadFirmware(filename.toAscii());
+    dfu.UploadFirmware("c:/openpilot.bin",true);
     // dfu.UploadDescription("josemanuel");
-     QString str=dfu.DownloadDescription(12);
+  //  QString str=dfu.DownloadDescription(12);
     // dfu.JumpToApp();
-      qDebug()<<"Description="<<str;
+   // qDebug()<<"Description="<<str;
     return a.exec();
 }
diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
index 5e75123fd..3bdc98d4c 100644
--- a/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
@@ -5,8 +5,8 @@
 
 OP_DFU::OP_DFU(bool _debug): debug(_debug)
 {
-QWaitCondition sleep;
-QMutex mutex;
+    QWaitCondition sleep;
+    QMutex mutex;
     int numDevices=0;
     cout<<"Please connect device now\n";
     int count=0;
@@ -28,6 +28,21 @@ QMutex mutex;
     if(debug)
         qDebug() << numDevices << " device(s) opened";
 }
+bool OP_DFU::SaveByteArrayToFile(QString sfile, const QByteArray &array)
+{
+    QFile file(sfile);
+    //QFile file("in.txt");
+    if (!file.open(QIODevice::WriteOnly))
+    {
+        if(debug)
+            qDebug()<<"Cant open file";
+        return false;
+    }
+    file.write(array);
+    file.close();
+    return true;
+}
+
 bool OP_DFU::enterDFU(int devNumber)
 {
     char buf[BUF_LEN];
@@ -104,8 +119,14 @@ bool OP_DFU::UploadData(qint32 numberOfBytes, QByteArray data)
     buf[0] =0x02;//reportID
     buf[1] = OP_DFU::Upload;//DFU Command
     int packetsize;
+    float percentage;
+    int laspercentage;
     for(qint32 packetcount=0;packetcount<numberOfPackets;++packetcount)
     {
+        percentage=(float)(packetcount+1)/numberOfPackets*100;
+        if(laspercentage!=(int)percentage)
+            printProgBar((int)percentage,"UPLOADING");
+        laspercentage=(int)percentage;
         if(packetcount==numberOfPackets)
             packetsize=lastPacketCount;
         else
@@ -133,6 +154,7 @@ bool OP_DFU::UploadData(qint32 numberOfBytes, QByteArray data)
         }
 
         //  qDebug() << "UPLOAD:"<<"Data="<<(int)buf[6]<<(int)buf[7]<<(int)buf[8]<<(int)buf[9]<<";"<<result << " bytes sent";
+
     }
     return true;
 }
@@ -189,10 +211,10 @@ QByteArray OP_DFU::StartDownload(qint32 numberOfBytes, TransferTypes type)
     char buf[BUF_LEN];
     buf[0] =0x02;//reportID
     buf[1] = OP_DFU::Download_Req;//DFU Command
-    buf[2] = (char)numberOfPackets>>24;//DFU Count
-    buf[3] = (char)numberOfPackets>>16;//DFU Count
-    buf[4] = (char)numberOfPackets>>8;//DFU Count
-    buf[5] = (char)numberOfPackets;//DFU Count
+    buf[2] = numberOfPackets>>24;//DFU Count
+    buf[3] = numberOfPackets>>16;//DFU Count
+    buf[4] = numberOfPackets>>8;//DFU Count
+    buf[5] = numberOfPackets;//DFU Count
     buf[6] = (int)type;//DFU Data0
     buf[7] = lastPacketCount;//DFU Data1
     buf[8] = 1;//DFU Data2
@@ -200,13 +222,21 @@ QByteArray OP_DFU::StartDownload(qint32 numberOfBytes, TransferTypes type)
 
     int result = hidHandle.send(0,buf, BUF_LEN, 500);
     if(debug)
-        qDebug() << "StartDownload:"<<result << " bytes sent";
+        qDebug() << "StartDownload:"<<numberOfPackets<<"packets"<<" Last Packet Size="<<lastPacketCount<<" "<<result << " bytes sent";
+    float percentage;
+    int laspercentage;
     for(qint32 x=0;x<numberOfPackets;++x)
     {
-      //  qDebug()<<"Status="<<StatusToString(StatusRequest());
+            percentage=(float)(x+1)/numberOfPackets*100;
+            if(laspercentage!=(int)percentage)
+                printProgBar((int)percentage,"DOWNLOADING");
+            laspercentage=(int)percentage;
+
+
+        //  qDebug()<<"Status="<<StatusToString(StatusRequest());
         result = hidHandle.receive(0,buf,BUF_LEN,5000);
         if(debug)
-            qDebug() << result << " bytes received"<<" Count="<<(int)buf[2]<<";"<<(int)buf[3]<<";"<<(int)buf[4]<<";"<<(int)buf[5]<<" Data="<<(int)buf[6]<<";"<<(int)buf[7]<<";"<<(int)buf[8]<<";"<<(int)buf[9];
+            qDebug() << result << " bytes received"<<" Count="<<x<<"-"<<(int)buf[2]<<";"<<(int)buf[3]<<";"<<(int)buf[4]<<";"<<(int)buf[5]<<" Data="<<(int)buf[6]<<";"<<(int)buf[7]<<";"<<(int)buf[8]<<";"<<(int)buf[9];
         int size;
         if(x==numberOfPackets-1)
             size=lastPacketCount*4;
@@ -375,7 +405,7 @@ bool OP_DFU::EndOperation()
         return true;
     return false;
 }
-OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile)
+OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile, const bool &verify)
 {
     cout<<"Starting Firmware Uploading...\n";
     QFile file(sfile);
@@ -423,6 +453,17 @@ OP_DFU::Status OP_DFU::UploadFirmware(const QString &sfile)
     {
         cout<<"Firmware Uploading succeeded...going to upload hash\n";
     }
+    if(verify)
+    {
+        if(arr==StartDownload(arr.length(),OP_DFU::FW))
+            cout<<"Verify:PASSED\n";
+        else
+        {
+            cout<<"Verify:FAILED\n";
+            return OP_DFU::abort;
+        }
+
+    }
     else
     {
         return ret;
@@ -497,3 +538,20 @@ QString OP_DFU::StatusToString(OP_DFU::Status status)
 
     }
 }
+void OP_DFU::printProgBar( int percent,QString const& label){
+    std::string bar;
+
+    for(int i = 0; i < 50; i++){
+        if( i < (percent/2)){
+            bar.replace(i,1,"=");
+        }else if( i == (percent/2)){
+            bar.replace(i,1,">");
+        }else{
+            bar.replace(i,1," ");
+        }
+    }
+
+    std::cout<< "\r"<<label.toLatin1().data()<< "[" << bar << "] ";
+    std::cout.width( 3 );
+    std::cout<< percent << "%     " << std::flush;
+}
diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
index b5284cede..7f3cbb4aa 100644
--- a/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
@@ -10,8 +10,20 @@
 #include <iostream>
 using namespace std;
 #define BUF_LEN 64
-#define DOWNLOAD "-dn"
-#define DEVICE   "-d"
+
+//Command Line Options
+#define DOWNLOAD            "-dn"    //done
+#define DEVICE              "-d"     //done
+#define DOWNDESCRIPTION     "-dd"    //done
+#define PROGRAMFW           "-p"     //done
+#define PROGRAMDESC         "-w"     //done
+#define VERIFY              "-v"
+#define COMPAREHASH         "-ch"
+#define COMPAREALL          "-ca"
+#define STATUSREQUEST       "-s"    //done
+#define LISTDEVICES         "-ls"   //done
+
+
 class OP_DFU
 {
 public:
@@ -81,11 +93,13 @@ public:
     bool StartUpload(qint32 numberOfBytes, TransferTypes type);
     bool UploadData(qint32 numberOfPackets,QByteArray data);
     Status UploadDescription(QString description);
-    Status UploadFirmware(const QString &sfile);
+    Status UploadFirmware(const QString &sfile, const bool &verify);
     Status StatusRequest();
     bool EndOperation();
+    void printProgBar( int percent,QString const& label);
     QString DownloadDescription(int numberOfChars);
     QByteArray StartDownload(qint32 numberOfBytes, TransferTypes type);
+    bool SaveByteArrayToFile(QString file,QByteArray const &array);
     void CopyWords(char * source, char* destination, int count);
    // QByteArray DownloadData(int devNumber,int numberOfPackets);
     OP_DFU(bool debug);
diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro b/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro
index 3e872c878..b89b2dbd1 100644
--- a/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro
@@ -8,7 +8,7 @@ QT       += core
 
 QT       -= gui
 
-TARGET = HIDTest
+TARGET = OPUploadTool
 CONFIG   += console
 CONFIG   -= app_bundle