diff --git a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test.c b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test.c
new file mode 100644
index 000000000..7a230399f
--- /dev/null
+++ b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test.c
@@ -0,0 +1,62 @@
+/**
+ * small etst program whether signals between threads work as they should
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <pthread.h>
+#include <signal.h>
+
+static pthread_mutex_t Mutex = PTHREAD_MUTEX_INITIALIZER;
+
+void sighandler(int sig) {
+	printf("signal handler called in thread %li - signal %i\n",(long)pthread_self(),sig);
+}
+
+
+void* threadstart(void* arg) {
+struct timespec timeout;	
+struct sigaction action;
+	printf("thread %li started\n",(long)pthread_self());
+
+	printf("installing signal handler\n");
+	action.sa_handler=sighandler;
+	action.sa_flags=0;
+	sigfillset( &action.sa_mask );
+	sigaction(SIGUSR1,&action,NULL);
+
+	printf("getting mutex\n");
+	pthread_mutex_lock(&Mutex);
+	printf("got mutex\n");
+
+
+	while (1) {
+		timeout.tv_sec=1;
+		timeout.tv_nsec=0;
+		nanosleep(&timeout,0);
+		printf("thread %li still running...\n",(long)pthread_self());
+	}
+
+}
+
+
+int main(char** argc, int argv) {
+
+pthread_t testthread1;	
+pthread_t testthread2;	
+printf("thread test program\n");
+sleep(5);
+printf("starting thread 1\n");
+pthread_create(&testthread1,NULL,threadstart,NULL);
+sleep(5);
+printf("starting thread 2\n");
+pthread_create(&testthread2,NULL,threadstart,NULL);
+while (1) {
+	sleep(5);
+	printf("sending SIG_USR1 to thread 1\n");
+	pthread_kill(testthread1,SIGUSR1);
+	sleep(5);
+	printf("sending SIG_USR1 to thread 2\n");
+	pthread_kill(testthread2,SIGUSR1);
+}
+}
diff --git a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test2.c b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test2.c
new file mode 100644
index 000000000..445aaadaa
--- /dev/null
+++ b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/thread_signal_test2.c
@@ -0,0 +1,70 @@
+/**
+ * small etst program whether signals between threads work as they should
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <pthread.h>
+#include <signal.h>
+
+static pthread_mutex_t Mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_mutex_t pfMutex = PTHREAD_MUTEX_INITIALIZER;
+
+#define printf(...) (void)pthread_mutex_lock(&pfMutex);printf(__VA_ARGS__);(void)pthread_mutex_unlock(&pfMutex)
+
+void sighandler(int sig) {
+	printf("signal handler called in thread %li - signal %i\n",(long)pthread_self(),sig);
+}
+
+
+void* threadstart(void* arg) {
+struct timespec timeout;	
+int t;
+	printf("thread %li started\n",(long)pthread_self());
+
+while (1) {
+	printf("getting mutex\n");
+	pthread_mutex_lock(&Mutex);
+	printf("got mutex\n");
+
+
+	for (t=0;t<20;t++) {
+		timeout.tv_sec=1;
+		timeout.tv_nsec=0;
+		nanosleep(&timeout,0);
+		printf("thread %li still running...\n",(long)pthread_self());
+	}
+	pthread_mutex_unlock(&Mutex);
+	sleep(1);
+}
+
+}
+
+
+int main(char** argc, int argv) {
+
+pthread_t testthread1;	
+pthread_t testthread2;	
+struct sigaction action;
+printf("thread test program\n");
+	printf("installing signal handler\n");
+	action.sa_handler=sighandler;
+	action.sa_flags=0;
+	sigfillset( &action.sa_mask );
+	sigaction(SIGUSR1,&action,NULL);
+
+sleep(5);
+printf("starting thread 1\n");
+pthread_create(&testthread1,NULL,threadstart,NULL);
+sleep(5);
+printf("starting thread 2\n");
+pthread_create(&testthread2,NULL,threadstart,NULL);
+while (1) {
+	sleep(5);
+	printf("sending SIG_USR1 to thread 1\n");
+	pthread_kill(testthread1,SIGUSR1);
+	sleep(5);
+	printf("sending SIG_USR1 to thread 2\n");
+	pthread_kill(testthread2,SIGUSR1);
+}
+}