diff --git a/Makefile b/Makefile
index e78824e5e..dd3522760 100644
--- a/Makefile
+++ b/Makefile
@@ -158,7 +158,7 @@ $(BUILD_DIR):
 ###############################################################
 
 # Set up QT toolchain
-QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2
+QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2.1
 
 .PHONY: qt_sdk_install
 qt_sdk_install: QT_SDK_URL  := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline
diff --git a/flight/PiOS/STM32F10x/pios_led.c b/flight/PiOS/STM32F10x/pios_led.c
index 30c6f1296..1714a9165 100644
--- a/flight/PiOS/STM32F10x/pios_led.c
+++ b/flight/PiOS/STM32F10x/pios_led.c
@@ -93,7 +93,10 @@ void PIOS_LED_On(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -111,7 +114,10 @@ void PIOS_LED_Off(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -130,9 +136,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/STM32F4xx/pios_led.c b/flight/PiOS/STM32F4xx/pios_led.c
index c73d37198..5a8d25d33 100644
--- a/flight/PiOS/STM32F4xx/pios_led.c
+++ b/flight/PiOS/STM32F4xx/pios_led.c
@@ -77,7 +77,10 @@ void PIOS_LED_On(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -95,7 +98,10 @@ void PIOS_LED_Off(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -114,9 +120,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/inc/pios_led_priv.h b/flight/PiOS/inc/pios_led_priv.h
index 20f09eafc..36a1ee3f7 100644
--- a/flight/PiOS/inc/pios_led_priv.h
+++ b/flight/PiOS/inc/pios_led_priv.h
@@ -37,6 +37,7 @@
 struct pios_led {
 	struct stm32_gpio pin;
 	uint32_t remap;
+	bool active_high;
 };
 
 struct pios_led_cfg {
diff --git a/flight/SimPosix/Makefile b/flight/SimPosix/Makefile
index 84a9bb060..622d7f53c 100644
--- a/flight/SimPosix/Makefile
+++ b/flight/SimPosix/Makefile
@@ -71,6 +71,8 @@ PIOSINC = $(PIOS)/inc
 OPMODULEDIR = ../Modules
 FLIGHTLIB = ../Libraries
 FLIGHTLIBINC = ../Libraries/inc
+MATHLIB = ../Libraries/math
+MATHLIBINC = ../Libraries/math
 PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
 PIOSBOARDS = $(PIOS)/Boards
@@ -132,6 +134,9 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/insgps13state.c
 SRC += $(FLIGHTLIB)/taskmonitor.c
 
+SRC += $(MATHLIB)/sin_lookup.c
+SRC += $(MATHLIB)/pid.c
+
 ## PIOS Hardware (STM32F4xx)
 include $(PIOS)/posix/library.mk
 
@@ -190,6 +195,7 @@ EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
 EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(MATHLIBINC)
 #EXTRAINCDIRS  += $(PIOSSTM32F4XX)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)
diff --git a/flight/SimPosix/UAVObjects.inc b/flight/SimPosix/UAVObjects.inc
index 8953c7462..b2400f16b 100644
--- a/flight/SimPosix/UAVObjects.inc
+++ b/flight/SimPosix/UAVObjects.inc
@@ -63,6 +63,8 @@ UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += positiondesired
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += revocalibration
+UAVOBJSRCFILENAMES += relaytuning
+UAVOBJSRCFILENAMES += relaytuningsettings
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
 UAVOBJSRCFILENAMES += stabilizationsettings