diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp b/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
new file mode 100644
index 000000000..e67d90742
--- /dev/null
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/main.cpp
@@ -0,0 +1,28 @@
+#include <QtCore/QCoreApplication>
+#include <QThread>
+#include <../../plugins/rawhid/pjrc_rawhid.h>
+#include "op_dfu.h"
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    OP_DFU dfu;
+//    dfu.enterDFU(1);
+//    dfu.StartUpload(4,OP_DFU::Descript);
+//    QByteArray array;
+//    array[0]=11;
+//    array[1]=2;
+//    array[2]=3;
+//    array[3]=4;
+//    array[4]=5;
+//    array[5]=6;
+//    array[6]=7;
+//    array[7]=8;
+//    dfu.UploadData(8,array);
+    //dfu.UploadDescription(1,"jose manuel");
+    //QString str=dfu.DownloadDescription(1,12);
+   // dfu.JumpToApp();
+   dfu.UploadFirmware("C:/OpenPilot.bin");
+    //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
new file mode 100644
index 000000000..ba542594a
--- /dev/null
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
@@ -0,0 +1,229 @@
+#include "op_dfu.h"
+#include <cmath>
+OP_DFU::OP_DFU()
+{
+    qDebug() << "Hello";
+
+    int numDevices = hidHandle.open(1,0x20a0,0x4117,0,0); //0xff9c,0x0001);
+    if( numDevices == 0 )
+        numDevices = hidHandle.open(1,0x0483,0,0,0);
+
+    qDebug() << numDevices << " device(s) opened";
+}
+void OP_DFU::enterDFU(int devNumber)
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::EnterDFU;//DFU Command
+    buf[2] = 0;//DFU Count
+    buf[3] = 0;//DFU Count
+    buf[4] = 0;//DFU Count
+    buf[5] = 0;//DFU Count
+    buf[6] = devNumber;//DFU Data0
+    buf[7] = 1;//DFU Data1
+    buf[8] = 1;//DFU Data2
+    buf[9] = 1;//DFU Data3
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+
+    qDebug() << result << " bytes sent";
+}
+void OP_DFU::StartUpload(qint32 numberOfPackets, TransferTypes type)
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = setStartBit(OP_DFU::Upload);//DFU Command
+    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] = 1;//DFU Data1
+    buf[8] = 1;//DFU Data2
+    buf[9] = 1;//DFU Data3
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 5000);
+
+    qDebug() << result << " bytes sent";
+}
+void OP_DFU::UploadData(qint32 numberOfPackets, QByteArray data)
+{
+    qDebug()<<"Start Uploading:"<<numberOfPackets<<"4Bytes";
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::Upload;//DFU Command
+    for(qint32 packetcount=0;packetcount<numberOfPackets;++packetcount)
+    {
+
+        buf[2] = packetcount>>24;//DFU Count
+        buf[3] = packetcount>>16;//DFU Count
+        buf[4] = packetcount>>8;//DFU Count
+        buf[5] = packetcount;//DFU Count
+        buf[6] = data[packetcount*4+3];//DFU Data0
+        buf[7] = data[packetcount*4+2];//DFU Data1
+        buf[8] = data[packetcount*4+1];//DFU Data2
+        buf[9] = data[packetcount*4];//DFU Data3
+
+        int result = hidHandle.send(0,buf, BUF_LEN, 5000);
+        qDebug()<<packetcount;
+      //  qDebug() << "UPLOAD:"<<"Data="<<(int)buf[6]<<(int)buf[7]<<(int)buf[8]<<(int)buf[9]<<";"<<result << " bytes sent";
+    }
+}
+void OP_DFU::UploadDescription(int devNumber, QString description)
+{
+    enterDFU(devNumber);
+    if(description.length()%2!=0)
+    {
+
+        int pad=description.length()/4;
+        pad=(pad+1)*4;
+        pad=pad-description.length();
+        QString padding;
+        padding.fill(' ',pad);
+        description.append(padding);
+    }
+    StartUpload(description.length()/4,OP_DFU::Descript);
+    QByteArray array=description.toAscii();
+    UploadData(description.length()/4,array);
+    EndOperation();
+    int ret=StatusRequest();
+    qDebug()<<"Status="<<ret;
+}
+QString OP_DFU::DownloadDescription(int devNumber, int numberOfChars)
+{
+   // enterDFU(devNumber);
+    QByteArray arr=StartDownload(numberOfChars/4,Descript);
+    QString str(arr);
+    return str;
+
+}
+QByteArray OP_DFU::StartDownload(qint32 numberOfPackets, TransferTypes type)
+{
+    QByteArray ret;
+    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[6] = (int)type;//DFU Data0
+    buf[7] = 1;//DFU Data1
+    buf[8] = 1;//DFU Data2
+    buf[9] = 1;//DFU Data3
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+
+    qDebug() << "StartDownload:"<<result << " bytes sent";
+    for(qint32 x=0;x<numberOfPackets;++x)
+    {
+        result = hidHandle.receive(0,buf,10,5000);
+        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];
+        ret.append(buf+6,4);
+    }
+    return ret;
+}
+void OP_DFU::ResetDevice(void)
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::Reset;//DFU Command
+    buf[2] = 0;
+    buf[3] = 0;
+    buf[4] = 0;
+    buf[5] = 0;
+    buf[6] = 0;
+    buf[7] = 0;
+    buf[8] = 0;
+    buf[9] = 0;
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+}
+void OP_DFU::JumpToApp()
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::JumpFW;//DFU Command
+    buf[2] = 0;
+    buf[3] = 0;
+    buf[4] = 0;
+    buf[5] = 0;
+    buf[6] = 0;
+    buf[7] = 0;
+    buf[8] = 0;
+    buf[9] = 0;
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+}
+int OP_DFU::StatusRequest()
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::Status_Request;//DFU Command
+    buf[2] = 0;
+    buf[3] = 0;
+    buf[4] = 0;
+    buf[5] = 0;
+    buf[6] = 0;
+    buf[7] = 0;
+    buf[8] = 0;
+    buf[9] = 0;
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+    hidHandle.receive(0,buf,10,500);
+    qDebug() << result << " bytes sent";
+    result = hidHandle.receive(0,buf,10,500);
+    qDebug() << result << " bytes received";
+    if(buf[1]==OP_DFU::Status_Rep)
+    {
+        return buf[6];
+    }
+    else
+        return -1;
+
+
+}
+void OP_DFU::EndOperation()
+{
+    char buf[BUF_LEN];
+    buf[0] =0x02;//reportID
+    buf[1] = OP_DFU::Op_END;//DFU Command
+    buf[2] = 0;
+    buf[3] = 0;
+    buf[4] = 0;
+    buf[5] = 0;
+    buf[6] = 0;
+    buf[7] = 0;
+    buf[8] = 0;
+    buf[9] = 0;
+
+    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+    hidHandle.receive(0,buf,10,500);
+    qDebug() << result << " bytes sent";
+}
+void OP_DFU::UploadFirmware(QString sfile)
+{
+    enterDFU(1);
+    QFile file(sfile);
+    //QFile file("in.txt");
+    if (!file.open(QIODevice::ReadOnly))
+    {
+        qDebug()<<"Cant open file";
+             return;
+                 }
+    QByteArray arr=file.readAll();
+    if(arr.length()%4!=0)
+    {
+    int pad=arr.length()/4;
+    ++pad;
+    pad=pad*4;
+    pad=pad-arr.length();
+    arr.append(QByteArray(pad,255));
+}
+    StartUpload(arr.length()/4,FW);
+    UploadData(arr.length()/4,arr);
+    EndOperation();
+    int ret=StatusRequest();
+    qDebug()<<"Status="<<ret;
+
+}
diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
new file mode 100644
index 000000000..0a8b503a4
--- /dev/null
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
@@ -0,0 +1,66 @@
+#ifndef OP_DFU_H
+#define OP_DFU_H
+
+#include <QByteArray>
+#include <../../plugins/rawhid/pjrc_rawhid.h>
+#include <QDebug>
+#include <QFile>
+#define BUF_LEN 10
+class OP_DFU
+{
+public:
+    enum TransferTypes
+    {
+        FW,
+        Hash,
+        Descript
+    };
+    enum Status
+    {
+        DFUidle,
+        uploading,
+        wrong_packet_received,
+        too_many_packets,
+        too_few_packets,
+        Last_operation_Success,
+        downloading,
+        idle,
+        Last_operation_failed
+
+    };
+    enum Commands
+    {
+        Reserved,
+        Req_Capabilities,
+        Rep_Capabilities,
+        EnterDFU,
+        JumpFW,
+        Reset,
+        Abort_Operation,
+        Upload,
+        Op_END,
+        Download_Req,
+        Download,
+        Status_Request,
+        Status_Rep,
+
+    };
+    void JumpToApp();
+    void ResetDevice(void);
+    void enterDFU(int devNumber);
+    void StartUpload(qint32 numberOfPackets, TransferTypes type);
+    void UploadData(qint32 numberOfPackets,QByteArray data);
+    void UploadDescription(int devNumber, QString description);
+    void UploadFirmware(QString sfile);
+    int StatusRequest();
+    void EndOperation();
+    QString DownloadDescription(int devNumber,int numberOfChars);
+    QByteArray StartDownload(qint32 numberOfPackets, TransferTypes type);
+   // QByteArray DownloadData(int devNumber,int numberOfPackets);
+    OP_DFU();
+private:
+    pjrc_rawhid hidHandle;
+    int setStartBit(int command){return command|0b00100000;}
+};
+
+#endif // OP_DFU_H
diff --git a/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro b/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro
new file mode 100644
index 000000000..cc6d4103c
--- /dev/null
+++ b/ground/src/experimental/USB_UPLOAD_TOOL/upload.pro
@@ -0,0 +1,26 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2010-07-24T11:26:38
+#
+#-------------------------------------------------
+
+QT       += core
+
+QT       -= gui
+
+TARGET = HIDTest
+CONFIG   += console
+CONFIG   -= app_bundle
+
+TEMPLATE = app
+
+SOURCES += main.cpp \
+    op_dfu.cpp
+HEADERS += ../../plugins/rawhid/pjrc_rawhid.h \
+    op_dfu.h
+
+win32 {
+    SOURCES += ../../plugins/rawhid/pjrc_rawhid_win.cpp
+    LIBS += -lhid \
+        -lsetupapi
+}