From 9b6b5bc7293454fcfafe4694f185f7c8623f696b Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Fri, 21 Sep 2012 23:51:21 +0200
Subject: [PATCH 001/125] changed receiver constants to be all negative in
 order to allow valid channel values of 0 for dsm

---
 flight/PiOS/STM32F10x/pios_ppm.c | 4 ++--
 flight/PiOS/STM32F4xx/pios_ppm.c | 4 ++--
 flight/PiOS/inc/pios_rcvr.h      | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c
index 64d1196f9..b47a2d6c2 100644
--- a/flight/PiOS/STM32F10x/pios_ppm.c
+++ b/flight/PiOS/STM32F10x/pios_ppm.c
@@ -145,8 +145,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
 
 	for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
 		/* Flush counter variables */
-		ppm_dev->CaptureValue[i] = 0;
-		ppm_dev->CaptureValueNewFrame[i] = 0;
+		ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
+		ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
 
 	}
 
diff --git a/flight/PiOS/STM32F4xx/pios_ppm.c b/flight/PiOS/STM32F4xx/pios_ppm.c
index e17b342b7..048377ebd 100644
--- a/flight/PiOS/STM32F4xx/pios_ppm.c
+++ b/flight/PiOS/STM32F4xx/pios_ppm.c
@@ -145,8 +145,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
 
 	for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
 		/* Flush counter variables */
-		ppm_dev->CaptureValue[i] = 0;
-		ppm_dev->CaptureValueNewFrame[i] = 0;
+		ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
+		ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
 
 	}
 
diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h
index ab493cd35..6b74c9b52 100644
--- a/flight/PiOS/inc/pios_rcvr.h
+++ b/flight/PiOS/inc/pios_rcvr.h
@@ -42,11 +42,11 @@ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
 /*! Define error codes for PIOS_RCVR_Get */
 enum PIOS_RCVR_errors {
 	/*! Indicates that a failsafe condition or missing receiver detected for that channel */
-	PIOS_RCVR_TIMEOUT = 0,
+	PIOS_RCVR_TIMEOUT = -1,
 	/*! Channel is invalid for this driver (usually out of range supported) */
-	PIOS_RCVR_INVALID = -1,
+	PIOS_RCVR_INVALID = -2,
 	/*! Indicates that the driver for this channel has not been initialized */
-	PIOS_RCVR_NODRIVER = -2
+	PIOS_RCVR_NODRIVER = -3
 };
 
 #endif /* PIOS_RCVR_H */

From 1169fb5617d92af6a907720bc9484818bf1b4bf7 Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Sat, 22 Sep 2012 09:45:47 +0200
Subject: [PATCH 002/125] added channel data init to gcsreceiver

---
 flight/PiOS/Common/pios_gcsrcvr.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/flight/PiOS/Common/pios_gcsrcvr.c b/flight/PiOS/Common/pios_gcsrcvr.c
index eda2a94ed..e3e34db5b 100644
--- a/flight/PiOS/Common/pios_gcsrcvr.c
+++ b/flight/PiOS/Common/pios_gcsrcvr.c
@@ -121,6 +121,11 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
 	if (!gcsrcvr_dev)
 		return -1;
 
+	for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
+		/* Flush channels */
+		gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
+	}
+
 	/* Register uavobj callback */
 	GCSReceiverConnectCallback (gcsreceiver_updated);
 

From 47cc6216ac455ba0b7d9ff8a96e603bb14708b24 Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Sat, 22 Sep 2012 10:02:15 +0200
Subject: [PATCH 003/125] use constants for receivers and updated function
 description

---
 flight/PiOS/Common/pios_gcsrcvr.c |  9 ++++++++-
 flight/PiOS/STM32F10x/pios_ppm.c  | 11 ++++++-----
 flight/PiOS/STM32F10x/pios_pwm.c  | 11 ++++++-----
 flight/PiOS/STM32F10x/pios_sbus.c |  2 +-
 flight/PiOS/STM32F4xx/pios_ppm.c  | 11 ++++++-----
 flight/PiOS/STM32F4xx/pios_pwm.c  | 11 ++++++-----
 6 files changed, 33 insertions(+), 22 deletions(-)

diff --git a/flight/PiOS/Common/pios_gcsrcvr.c b/flight/PiOS/Common/pios_gcsrcvr.c
index e3e34db5b..709eeef76 100644
--- a/flight/PiOS/Common/pios_gcsrcvr.c
+++ b/flight/PiOS/Common/pios_gcsrcvr.c
@@ -137,11 +137,18 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
 	return 0;
 }
 
+/**
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
 		/* channel is out of range */
-		return -1;
+		return PIOS_RCVR_INVALID;
 	}
 
 	return (gcsreceiverdata.Channel[channel]);
diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c
index b47a2d6c2..4893d56a9 100644
--- a/flight/PiOS/STM32F10x/pios_ppm.c
+++ b/flight/PiOS/STM32F10x/pios_ppm.c
@@ -200,11 +200,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
-* \param[in] Channel Number of the channel desired
-* \output -1 Channel not available
-* \output >0 Channel value
-*/
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;
diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c
index 4e7c98b14..497a5d19b 100644
--- a/flight/PiOS/STM32F10x/pios_pwm.c
+++ b/flight/PiOS/STM32F10x/pios_pwm.c
@@ -170,11 +170,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
-* \param[in] Channel Number of the channel desired
-* \output -1 Channel not available
-* \output >0 Channel value
-*/
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;
diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c
index 53730b16b..50d0480c3 100644
--- a/flight/PiOS/STM32F10x/pios_sbus.c
+++ b/flight/PiOS/STM32F10x/pios_sbus.c
@@ -166,7 +166,7 @@ out_fail:
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel)
 {
diff --git a/flight/PiOS/STM32F4xx/pios_ppm.c b/flight/PiOS/STM32F4xx/pios_ppm.c
index 048377ebd..9acaca017 100644
--- a/flight/PiOS/STM32F4xx/pios_ppm.c
+++ b/flight/PiOS/STM32F4xx/pios_ppm.c
@@ -200,11 +200,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
-* \param[in] Channel Number of the channel desired
-* \output -1 Channel not available
-* \output >0 Channel value
-*/
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;
diff --git a/flight/PiOS/STM32F4xx/pios_pwm.c b/flight/PiOS/STM32F4xx/pios_pwm.c
index 5bbec32aa..2c67ad465 100644
--- a/flight/PiOS/STM32F4xx/pios_pwm.c
+++ b/flight/PiOS/STM32F4xx/pios_pwm.c
@@ -170,11 +170,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
-* \param[in] Channel Number of the channel desired
-* \output -1 Channel not available
-* \output >0 Channel value
-*/
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;

From ee146a89eb9442085533864ecb5ac7fe62d2a07d Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Sat, 22 Sep 2012 10:32:46 +0200
Subject: [PATCH 004/125] updated comments

---
 flight/PiOS/STM32F10x/pios_dsm.c | 2 +-
 flight/PiOS/STM32F4xx/pios_dsm.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/PiOS/STM32F10x/pios_dsm.c b/flight/PiOS/STM32F10x/pios_dsm.c
index cb838b56b..2dfaa1c3f 100644
--- a/flight/PiOS/STM32F10x/pios_dsm.c
+++ b/flight/PiOS/STM32F10x/pios_dsm.c
@@ -347,7 +347,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
 {
diff --git a/flight/PiOS/STM32F4xx/pios_dsm.c b/flight/PiOS/STM32F4xx/pios_dsm.c
index 7c5348560..06bc27476 100644
--- a/flight/PiOS/STM32F4xx/pios_dsm.c
+++ b/flight/PiOS/STM32F4xx/pios_dsm.c
@@ -349,7 +349,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
 {

From 5132448fe810c127290ccfae9ba6f70b7c3884f6 Mon Sep 17 00:00:00 2001
From: Erik Gustavsson <cyrano@area26.se>
Date: Thu, 29 Nov 2012 18:50:25 +0100
Subject: [PATCH 005/125] Decrease zeroing yawBiasRate to reduce noise-induced
 random yaw drift.

---
 flight/Modules/Attitude/attitude.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index 7f43eb7a7..02c511500 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
 			// For first 7 seconds use accels to get gyro bias
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		} else if (init == 0) {

From d250e053f6901064554237d3def81961f7a8ae2a Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Fri, 18 Jan 2013 19:05:23 +0000
Subject: [PATCH 006/125] Some 3D models optimized

---
 artwork/3D Model/multi/joes_cnc/CC.PNG        | Bin 98507 -> 0 bytes
 artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS  | Bin 2561252 -> 1277369 bytes
 artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS  | Bin 2561724 -> 1277377 bytes
 artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS   | Bin 1689397 -> 608550 bytes
 artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS   | Bin 1689405 -> 608558 bytes
 artwork/3D Model/multi/joes_cnc/TEXTURE.JPG   | Bin 0 -> 59920 bytes
 artwork/3D Model/multi/joes_cnc/TEXTURE.PNG   | Bin 1122 -> 0 bytes
 .../openpilotgcs/models/multi/joes_cnc/CC.PNG | Bin 98507 -> 0 bytes
 .../models/multi/joes_cnc/J14-QT_+.3DS        | Bin 2561252 -> 1277369 bytes
 .../models/multi/joes_cnc/J14-QT_X.3DS        | Bin 2561724 -> 1277377 bytes
 .../models/multi/joes_cnc/J14-Q_+.3DS         | Bin 1689397 -> 608550 bytes
 .../models/multi/joes_cnc/J14-Q_X.3DS         | Bin 1689405 -> 608558 bytes
 .../models/multi/joes_cnc/TEXTURE.JPG         | Bin 0 -> 59920 bytes
 .../models/multi/joes_cnc/TEXTURE.PNG         | Bin 1122 -> 0 bytes
 14 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 artwork/3D Model/multi/joes_cnc/CC.PNG
 mode change 100644 => 100755 artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
 mode change 100644 => 100755 artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
 mode change 100644 => 100755 artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
 mode change 100644 => 100755 artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS
 create mode 100644 artwork/3D Model/multi/joes_cnc/TEXTURE.JPG
 delete mode 100644 artwork/3D Model/multi/joes_cnc/TEXTURE.PNG
 delete mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/CC.PNG
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.3DS
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.3DS
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.3DS
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.JPG
 delete mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.PNG

diff --git a/artwork/3D Model/multi/joes_cnc/CC.PNG b/artwork/3D Model/multi/joes_cnc/CC.PNG
deleted file mode 100644
index 467f34a97717300e21953555d6c7f9245783f595..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS b/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
old mode 100644
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.JPG b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.JPG
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From 12179a3db95c253b6d483d3e1d88bb90eb8b7073 Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Fri, 18 Jan 2013 22:22:08 +0000
Subject: [PATCH 007/125] Backup of optimized 3D models

---
 artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS | Bin
 artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS | Bin
 artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS  | Bin
 artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS  | Bin
 4 files changed, 0 insertions(+), 0 deletions(-)
 mode change 100755 => 100644 artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
 mode change 100755 => 100644 artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
 mode change 100755 => 100644 artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
 mode change 100755 => 100644 artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS

diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS b/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
old mode 100755
new mode 100644
diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS b/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
old mode 100755
new mode 100644
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS b/artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
old mode 100755
new mode 100644
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS b/artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS
old mode 100755
new mode 100644

From 092432a3cb93cb9431c991a2c7359b22960e6b99 Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Fri, 18 Jan 2013 22:22:48 +0000
Subject: [PATCH 008/125] PFD with some labels for better User eXperience

---
 artwork/PFD/pfd.svg                           | 5223 ++++++++---------
 .../share/openpilotgcs/pfd/default/pfd.svg    |  136 +-
 2 files changed, 2729 insertions(+), 2630 deletions(-)

diff --git a/artwork/PFD/pfd.svg b/artwork/PFD/pfd.svg
index 6313bf1df..abdc4f8c5 100755
--- a/artwork/PFD/pfd.svg
+++ b/artwork/PFD/pfd.svg
@@ -14,12 +14,12 @@
    height="707.56323"
    id="svg2"
    version="1.1"
-   inkscape:version="0.48.1 "
-   sodipodi:docname="pfd.svg"
+   inkscape:version="0.48.3.1 r9886"
+   sodipodi:docname="pfd-11.svg"
    style="display:inline"
-   inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
-   inkscape:export-xdpi="269.53"
-   inkscape:export-ydpi="269.53">
+   inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
+   inkscape:export-xdpi="71.993568"
+   inkscape:export-ydpi="71.993568">
   <defs
      id="defs4">
     <marker
@@ -1615,18 +1615,18 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.73067675"
-     inkscape:cx="305.98471"
-     inkscape:cy="372.16908"
+     inkscape:zoom="1.1617336"
+     inkscape:cx="415.72223"
+     inkscape:cy="353.78162"
      inkscape:document-units="px"
-     inkscape:current-layer="layer3"
+     inkscape:current-layer="svg2"
      showgrid="false"
-     inkscape:window-width="1366"
-     inkscape:window-height="706"
-     inkscape:window-x="-8"
-     inkscape:window-y="-8"
+     inkscape:window-width="1920"
+     inkscape:window-height="1017"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
      inkscape:window-maximized="1"
-     showguides="true"
+     showguides="false"
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      inkscape:snap-to-guides="true"
@@ -1680,6 +1680,38 @@
        orientation="0,1"
        position="-378.30213,170.71578"
        id="guide5917" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="481.5,752.75"
+       id="guide7197" />
+    <sodipodi:guide
+       position="669.44526,613.50294"
+       orientation="519.61524,-300"
+       id="guide5032" />
+    <sodipodi:guide
+       position="779.25288,503.69532"
+       orientation="300,-519.61524"
+       id="guide5034" />
+    <sodipodi:guide
+       position="622.0513,635.6031"
+       orientation="563.81557,-205.21208"
+       id="guide5036" />
+    <sodipodi:guide
+       position="571.53971,649.13764"
+       orientation="590.88465,-104.1889"
+       id="guide5038" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="450.8125,483.4375"
+       id="guide4007" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="589,485.5"
+       id="guide4009" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="-504.5,799.5"
+       id="guide5119" />
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@@ -1696,7 +1728,7 @@
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@@ -1711,7 +1743,7 @@
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-     inkscape:label="World"
+     inkscape:label="world"
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-           style="fill:url(#linearGradient5597);fill-opacity:1;stroke:none" />
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+           id="sky"
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            y="-145.56979"
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From 2cd3485cf69caf03f1988bd7fc31ba613872448c Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sun, 3 Mar 2013 19:33:24 +0100
Subject: [PATCH 009/125] OP-816 Fixed Revolution identification and Revolution
 + OPLink firmware auto-update functionality.

---
 .../src/plugins/setupwizard/connectiondiagram.cpp         | 2 +-
 .../src/plugins/setupwizard/pages/autoupdatepage.cpp      | 6 +++---
 .../src/plugins/setupwizard/pages/controllerpage.cpp      | 8 +++-----
 .../openpilotgcs/src/plugins/setupwizard/setupwizard.cpp  | 4 ++--
 .../src/plugins/setupwizard/vehicleconfigurationsource.h  | 2 +-
 .../src/plugins/uploader/uploadergadgetwidget.cpp         | 8 ++++++--
 6 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp b/ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
index 1b94c1cae..8d7db60f8 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
@@ -82,7 +82,7 @@ void ConnectionDiagram::setupGraphicsScene()
             case VehicleConfigurationSource::CONTROLLER_CC:
             case VehicleConfigurationSource::CONTROLLER_CC3D:
             case VehicleConfigurationSource::CONTROLLER_REVO:
-            case VehicleConfigurationSource::CONTROLLER_PIPX:
+            case VehicleConfigurationSource::CONTROLLER_OPLINK:
             default:
                 elementsToShow << "controller";
                 break;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
index 440e8b4d5..6542940f1 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
@@ -15,9 +15,9 @@ AutoUpdatePage::AutoUpdatePage(SetupWizard *wizard, QWidget *parent) :
     Q_ASSERT(pm);
     UploaderGadgetFactory *uploader = pm->getObject<UploaderGadgetFactory>();
     Q_ASSERT(uploader);
-    connect(ui->startUpdate,SIGNAL(clicked()), this, SLOT(disableButtons()));
-    connect(ui->startUpdate,SIGNAL(clicked()),uploader,SIGNAL(autoUpdate()));
-    connect(uploader,SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep,QVariant)),this,SLOT(updateStatus(uploader::AutoUpdateStep,QVariant)));
+    connect(ui->startUpdate, SIGNAL(clicked()), this, SLOT(disableButtons()));
+    connect(ui->startUpdate, SIGNAL(clicked()), uploader, SIGNAL(autoUpdate()));
+    connect(uploader, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep,QVariant)), this, SLOT(updateStatus(uploader::AutoUpdateStep, QVariant)));
 }
 
 AutoUpdatePage::~AutoUpdatePage()
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
index 7601fff62..595928931 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
@@ -97,12 +97,12 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
 
     switch (id) {
     case 0x0301:
-        return SetupWizard::CONTROLLER_PIPX;
+        return SetupWizard::CONTROLLER_OPLINK;
     case 0x0401:
         return SetupWizard::CONTROLLER_CC;
     case 0x0402:
         return SetupWizard::CONTROLLER_CC3D;
-    case 0x0901:
+    case 0x0903:
         return SetupWizard::CONTROLLER_REVO;
     default:
         return SetupWizard::CONTROLLER_UNKNOWN;
@@ -122,9 +122,7 @@ void ControllerPage::setupBoardTypes()
     ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl"), SetupWizard::CONTROLLER_CC);
     ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
     ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
-    //ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
-    ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_PIPX);
-    //ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
+    ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
 }
 
 void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index 3e6b6916b..d6b6bb86b 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -83,7 +83,7 @@ int SetupWizard::nextId() const
                 case CONTROLLER_CC3D:
                     return PAGE_INPUT;
                 case CONTROLLER_REVO:
-                case CONTROLLER_PIPX:
+                case CONTROLLER_OPLINK:
                 default:
                     return PAGE_NOTYETIMPLEMENTED;
             }
@@ -147,7 +147,7 @@ QString SetupWizard::getSummaryText()
         case CONTROLLER_REVO:
             summary.append(tr("OpenPilot Revolution"));
             break;
-        case CONTROLLER_PIPX:
+        case CONTROLLER_OPLINK:
             summary.append(tr("OpenPilot OPLink Radio Modem"));
             break;
         default:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index 5e36902e9..5bb15ceb0 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -56,7 +56,7 @@ class VehicleConfigurationSource
 public:
     VehicleConfigurationSource();
 
-    enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
+    enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_OPLINK};
     enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
     enum VEHICLE_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
                                MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index d4ef26ba6..508003f9f 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -552,12 +552,16 @@ bool UploaderGadgetWidget::autoUpdate()
     emit autoUpdateSignal(LOADING_FW,QVariant());
     switch (dfu->devices[0].ID)
     {
-    case 0x401:
-        filename="fw_coptercontrol";
+    case 0x0301:
+        filename="fw_pipxtreme";
         break;
+    case 0x401:
     case 0x402:
         filename="fw_coptercontrol";
         break;
+    case 0x903:
+        filename="fw_revomini";
+        break;
     default:
         emit autoUpdateSignal(FAILURE,QVariant());
         return false;

From 45a3bb975c41d9e9ab482ce41e2833fad357362b Mon Sep 17 00:00:00 2001
From: Kevin Vertucio <kevinv033@gmail.com>
Date: Tue, 19 Mar 2013 10:14:50 -0400
Subject: [PATCH 010/125] OP-791 FIXED issue where Flickable web view would
 need to be dragged to scroll content

Replaced Flickable component with ListView for the Authors list.

Signed-off-by: Kevin Vertucio <kevinv033@gmail.com>
---
 .../src/plugins/coreplugin/core.qrc           |   3 +-
 .../plugins/coreplugin/qml/AboutDialog.qml    |  57 ++---
 .../plugins/coreplugin/qml/AuthorsModel.qml   | 151 ++++++++++++++
 .../coreplugin/qml/FlickableWebView.qml       | 196 ------------------
 .../coreplugin/qml/ScrollDecorator.qml        |  40 ++++
 5 files changed, 223 insertions(+), 224 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml
 delete mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
index 85ca549e6..268eb4808 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
+++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
@@ -64,7 +64,8 @@
 		<file>images/tx-rx.svg</file>
 		<file>qml/images/tab.png</file>
 		<file>qml/AboutDialog.qml</file>
-		<file>qml/FlickableWebView.qml</file>
+		<file>qml/AuthorsModel.qml</file>
+		<file>qml/ScrollDecorator.qml</file>
 		<file>qml/TabWidget.qml</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
index a1be53bc5..502771267 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
@@ -41,8 +41,12 @@
  import QtQuick 1.1
  import QtWebKit 1.0 
  
+ 
  // This is a tabbed pane element. Add a nested Rectangle to add a tab.
  TabWidget {
+	 	// Define AuthorsModel as type
+	 	property AuthorsModel authors: AuthorsModel {}
+	 
 	 	id: tabs
 		width: 640; height: 480
 		// This  tab is for the GCS version information
@@ -75,35 +79,34 @@
                 }
             }
         }
-		// This is a stub for the Plugins.
-        // Rectangle {
-        //      property string title: "Plugins"
-        //      anchors.fill: parent
-        //      color: "#e3e3e3"
-        //  
-        //      Rectangle {
-        //          anchors.fill: parent; anchors.margins: 20
-        //          color: "#7fff7f"
-        //          Text {
-        //              width: parent.width - 20
-        //              anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter
-        //              font.pixelSize: 20
-        //              wrapMode: Text.WordWrap
-        //          }
-        //      }
-        //  }
-  //  This tab is for the authors/contributors/credits
+		//  This tab is for the authors/contributors/credits
         Rectangle {
 			property string title: "Authors"
 			anchors.fill: parent; color: "#e3e3e3"
-			 Rectangle {
+			Rectangle {
 				anchors.fill: parent; anchors.margins: 20
 				color: "#e3e3e3"
-				 FlickableWebView {
-					  id: webView
-					  z: 0
-					  url: "../CREDITS.html"
-					  anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom }
-				 }
-			 }
-		 }
\ No newline at end of file
+				Text {
+					id: description
+					text: "<h4>These people have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.</h4><p>This list is sorted alphabetically by name</p>"
+					width: 600
+					wrapMode: Text.WordWrap
+					
+				}
+				ListView {
+					id: authorsView
+					y: description.y + description.height + 20
+					width: parent.width; height: parent.height - description.height - 20
+					spacing: 3
+					model: authors
+					delegate: Text {
+						text: name
+					}
+					clip: true
+				}
+				ScrollDecorator {
+					flickableItem: authorsView
+				}
+			}
+		}
+}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml
new file mode 100644
index 000000000..b55ee86e9
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml
@@ -0,0 +1,151 @@
+/*
+This list model was created for the AuthorsDialog. 
+*/
+import QtQuick 1.1
+
+ListModel {
+	
+	ListElement{ name:"Connor Abbott" }
+
+	ListElement{ name:"David Ankers" }
+
+	ListElement{ name:"Sergiy Anikeyev" }
+
+	ListElement{ name:"Pedro Assuncao" }
+
+	ListElement{ name:"Fredrik Arvidsson" }
+
+	ListElement{ name:"Werner Backes" }
+
+	ListElement{ name:"Jose Barros" }
+
+	ListElement{ name:"Pete Boehl" }
+
+	ListElement{ name:"David Carlson" }
+
+	ListElement{ name:"James Cotton" }
+
+	ListElement{ name:"Steve Doll" }
+
+	ListElement{ name:"Piotr Esden-Tempski" }
+
+	ListElement{ name:"Richard Flay" }
+
+	ListElement{ name:"Peter Farnworth" }
+
+	ListElement{ name:"Ed Faulkner" }
+
+	ListElement{ name:"Darren Furniss" }
+
+	ListElement{ name:"Frederic Goddeeris" }
+
+	ListElement{ name:"Daniel Godin" }
+
+	ListElement{ name:"Bani Greyling" }
+
+	ListElement{ name:"Nuno Guedes" }
+
+	ListElement{ name:"Erik Gustavsson" }
+
+	ListElement{ name:"Peter Gunnarsson" }
+
+	ListElement{ name:"Dean Hall" }
+
+	ListElement{ name:"Joe Hlebasko" }
+
+	ListElement{ name:"Andy Honecker" }
+
+	ListElement{ name:"Ryan Hunt" }
+
+	ListElement{ name:"Mark James" }
+
+	ListElement{ name:"Sami Korhonen" }
+
+	ListElement{ name:"Thorsten Klose" }
+
+	ListElement{ name:"Hallvard Kristiansen" }
+
+	ListElement{ name:"Edouard Lafargue" }
+
+	ListElement{ name:"Mike Labranche" }
+
+	ListElement{ name:"Fredrik Larsson" }
+
+	ListElement{ name:"Pablo Lema" }
+
+	ListElement{ name:"David Llama" }
+
+	ListElement{ name:"Matt Lipski" }
+
+	ListElement{ name:"Les Newell" }
+
+	ListElement{ name:"Ken Northup" }
+
+	ListElement{ name:"Greg Matthews" }
+
+	ListElement{ name:"Guy McCaldin" }
+
+	ListElement{ name:"Gary Mortimer" }
+
+	ListElement{ name:"Alessio Morale" }
+
+	ListElement{ name:"Cathy Moss" }
+
+	ListElement{ name:"Angus Peart" }
+
+	ListElement{ name:"Dmytro Poplavskiy" }
+
+	ListElement{ name:"Eric Price" }
+
+	ListElement{ name:"Richard Querin" }
+
+	ListElement{ name:"Randy Ram" }
+
+	ListElement{ name:"Laurent Ribon" }
+
+	ListElement{ name:"Julien Rouviere" }
+
+	ListElement{ name:"Jackson Russell" }
+
+	ListElement{ name:"Zik Saleeba" }
+
+	ListElement{ name:"Professor Dale Schinstock" }
+
+	ListElement{ name:"Professor Kenn Sebesta" }
+
+	ListElement{ name:"Oleg Semyonov" }
+
+	ListElement{ name:"Stacey Sheldon" }
+
+	ListElement{ name:"Troy Schultz" }
+
+	ListElement{ name:"Dr. Erhard Siegl" }
+
+	ListElement{ name:"Mike Smith" }
+
+	ListElement{ name:"Alex Sowa" }
+
+	ListElement{ name:"Pete Stapley" }
+
+	ListElement{ name:"Rowan Taubitz" }
+
+	ListElement{ name:"Andrew Thoms" }
+
+	ListElement{ name:"Jasper van Loenen" }
+
+	ListElement{ name:"Vassilis Varveropoulos" }
+
+	ListElement{ name:"Kevin Vertucio" }
+
+	ListElement{ name:"Alex Vrubel" }
+
+	ListElement{ name:"Brian Webb" }
+
+	ListElement{ name:"Justin Welander" }
+
+	ListElement{ name:"Mat Wellington" }
+
+	ListElement{ name:"Kendal Wells" }
+
+	ListElement{ name:"Dmitriy Zaitsev" }
+}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml
deleted file mode 100644
index 3043ce88a..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml
+++ /dev/null
@@ -1,196 +0,0 @@
-/****************************************************************************
-**
-** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
-** Contact: http://www.qt-project.org/
-**
-** This file is part of the QtDeclarative module of the Qt Toolkit.
-**
-** $QT_BEGIN_LICENSE:LGPL$
-** GNU Lesser General Public License Usage
-** This file may be used under the terms of the GNU Lesser General Public
-** License version 2.1 as published by the Free Software Foundation and
-** appearing in the file LICENSE.LGPL included in the packaging of this
-** file. Please review the following information to ensure the GNU Lesser
-** General Public License version 2.1 requirements will be met:
-** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
-**
-** In addition, as a special exception, Nokia gives you certain additional
-** rights. These rights are described in the Nokia Qt LGPL Exception
-** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
-**
-** GNU General Public License Usage
-** Alternatively, this file may be used under the terms of the GNU General
-** Public License version 3.0 as published by the Free Software Foundation
-** and appearing in the file LICENSE.GPL included in the packaging of this
-** file. Please review the following information to ensure the GNU General
-** Public License version 3.0 requirements will be met:
-** http://www.gnu.org/copyleft/gpl.html.
-**
-** Other Usage
-** Alternatively, this file may be used in accordance with the terms and
-** conditions contained in a signed written agreement between you and Nokia.
-**
-**
-**
-**
-**
-**
-** $QT_END_LICENSE$
-**
-****************************************************************************/
-
-import QtQuick 1.0
-import QtWebKit 1.0
-
-Flickable {
-    property alias title: webView.title
-    property alias icon: webView.icon
-    property alias progress: webView.progress
-    property alias url: webView.url
-    property alias back: webView.back
-    property alias stop: webView.stop
-    property alias reload: webView.reload
-    property alias forward: webView.forward
-
-    id: flickable
-    width: parent.width
-    contentWidth: Math.max(parent.width,webView.width)
-    contentHeight: Math.max(parent.height,webView.height)
-    // anchors.top: headerSpace.bottom
-    anchors.bottom: parent.top
-    anchors.left: parent.left
-    anchors.right: parent.right
-    pressDelay: 200
-	clip: true
-	
-    onWidthChanged : {
-        // Expand (but not above 1:1) if otherwise would be smaller that available width.
-        if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0)
-            webView.contentsScale = width / webView.width * webView.contentsScale;
-    }
-
-    WebView {
-        id: webView
-        transformOrigin: Item.TopLeft
-
-        function fixUrl(url)
-        {
-            if (url == "") return url
-            if (url[0] == "/") return "file://"+url
-            if (url.indexOf(":")<0) {
-                if (url.indexOf(".")<0 || url.indexOf(" ")>=0) {
-                    // Fall back to a search engine; hard-code Wikipedia
-                    return "http://en.wikipedia.org/w/index.php?search="+url
-                } else {
-                    return "http://"+url
-                }
-            }
-            return url
-        }
-
-        url: fixUrl(webBrowser.urlString)
-        smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions
-        focus: true
-
-        onAlert: console.log(message)
-
-        function doZoom(zoom,centerX,centerY)
-        {
-            if (centerX) {
-                var sc = zoom*contentsScale;
-                scaleAnim.to = sc;
-                flickVX.from = flickable.contentX
-                flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width))
-                finalX.value = flickVX.to
-                flickVY.from = flickable.contentY
-                flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height))
-                finalY.value = flickVY.to
-                quickZoom.start()
-            }
-        }
-
-        Keys.onLeftPressed: webView.contentsScale -= 0.1
-        Keys.onRightPressed: webView.contentsScale += 0.1
-
-        preferredWidth: flickable.width
-        preferredHeight: flickable.height
-        contentsScale: 1
-        onContentsSizeChanged: {
-            // zoom out
-            contentsScale = Math.min(1,flickable.width / contentsSize.width)
-        }
-        onUrlChanged: {
-            // got to topleft
-            flickable.contentX = 0
-            flickable.contentY = 0
-            // if (url != null) { header.editUrl = url.toString(); }
-        }
-        onDoubleClick: {
-                        if (!heuristicZoom(clickX,clickY,2.5)) {
-                            var zf = flickable.width / contentsSize.width
-                            if (zf >= contentsScale)
-                                zf = 2.0*contentsScale // zoom in (else zooming out)
-                            doZoom(zf,clickX*zf,clickY*zf)
-                         }
-                       }
-
-        SequentialAnimation {
-            id: quickZoom
-
-            PropertyAction {
-                target: webView
-                property: "renderingEnabled"
-                value: false
-            }
-            ParallelAnimation {
-                NumberAnimation {
-                    id: scaleAnim
-                    target: webView
-                    property: "contentsScale"
-                    // the to property is set before calling
-                    easing.type: Easing.Linear
-                    duration: 200
-                }
-                NumberAnimation {
-                    id: flickVX
-                    target: flickable
-                    property: "contentX"
-                    easing.type: Easing.Linear
-                    duration: 200
-                    from: 0 // set before calling
-                    to: 0 // set before calling
-                }
-                NumberAnimation {
-                    id: flickVY
-                    target: flickable
-                    property: "contentY"
-                    easing.type: Easing.Linear
-                    duration: 200
-                    from: 0 // set before calling
-                    to: 0 // set before calling
-                }
-            }
-            // Have to set the contentXY, since the above 2
-            // size changes may have started a correction if
-            // contentsScale < 1.0.
-            PropertyAction {
-                id: finalX
-                target: flickable
-                property: "contentX"
-                value: 0 // set before calling
-            }
-            PropertyAction {
-                id: finalY
-                target: flickable
-                property: "contentY"
-                value: 0 // set before calling
-            }
-            PropertyAction {
-                target: webView
-                property: "renderingEnabled"
-                value: true
-            }
-        }
-        onZoomTo: doZoom(zoom,centerX,centerY)
-    }
-}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml
new file mode 100644
index 000000000..24c79c927
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml
@@ -0,0 +1,40 @@
+import QtQuick 1.1
+
+Rectangle {
+    id: scrollDecorator
+
+    property Flickable flickableItem: null
+
+    Loader {
+        id: scrollLoader
+        sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
+    }
+
+    Component.onDestruction: scrollLoader.sourceComponent = undefined
+
+    Component {
+        id: scrollBar
+        Rectangle {
+            property Flickable flickable: scrollDecorator.flickableItem
+
+            parent: flickable
+            anchors.right: parent.right
+
+            smooth: true
+            radius: 2
+            color: "gray"
+            border.color: "lightgray"
+            border.width: 1.0
+            opacity: flickable.moving ? 0.8 : 0.4
+
+            Behavior on opacity {
+                NumberAnimation { duration: 500 }
+            }
+
+            width: 4
+            height: flickable.height * (flickable.height / flickable.contentHeight)
+            y: flickable.height * (flickable.contentY / flickable.contentHeight)
+            visible: flickable.height < flickable.contentHeight
+        }
+    }
+}

From 45b0e787a4cc409ae1d2daa5a96bdcb924e11b26 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 30 Mar 2013 19:57:16 +0100
Subject: [PATCH 011/125] OP-886 Improvements to sanitychecks Added an
 Extensions to Alarm for detailed status/substatus reporting. Extended Alarms
 are the first in the Alarm structure and have corresponding fields in Status
 and Substatus structures. Also added a filter to the HWsettings update to
 prevent to block arming when actual settings have not changed.

+review OPReview
---
 .../System => Libraries}/alarms.c             |  42 +++-
 .../System => Libraries}/inc/alarms.h         |   1 +
 flight/Libraries/inc/sanitycheck.h            |  13 +-
 flight/Libraries/sanitycheck.c                |  64 +++---
 flight/Modules/System/systemmod.c             |  17 +-
 flight/targets/CopterControl/Makefile         |   2 +-
 .../targets/CopterControl/System/inc/alarms.h |  50 ----
 flight/targets/OSD/Makefile                   |   2 +-
 flight/targets/OSD/System/alarms.c            | 210 -----------------
 flight/targets/OSD/System/inc/alarms.h        |  50 ----
 flight/targets/PipXtreme/System/alarms.c      | 214 ------------------
 flight/targets/RevoMini/Makefile              |   2 +-
 flight/targets/RevoMini/System/alarms.c       | 210 -----------------
 flight/targets/RevoMini/System/inc/alarms.h   |  50 ----
 flight/targets/Revolution/Makefile            |   2 +-
 flight/targets/Revolution/System/alarms.c     | 210 -----------------
 flight/targets/Revolution/System/inc/alarms.h |  50 ----
 flight/targets/SimPosix/Makefile              |   2 +-
 flight/targets/SimPosix/System/alarms.c       | 210 -----------------
 flight/targets/SimPosix/System/inc/alarms.h   |  50 ----
 shared/uavobjectdefinition/systemalarms.xml   |  18 +-
 21 files changed, 123 insertions(+), 1346 deletions(-)
 rename flight/{targets/CopterControl/System => Libraries}/alarms.c (76%)
 rename flight/{targets/PipXtreme/System => Libraries}/inc/alarms.h (91%)
 mode change 100755 => 100644
 delete mode 100644 flight/targets/CopterControl/System/inc/alarms.h
 delete mode 100644 flight/targets/OSD/System/alarms.c
 delete mode 100644 flight/targets/OSD/System/inc/alarms.h
 delete mode 100755 flight/targets/PipXtreme/System/alarms.c
 delete mode 100644 flight/targets/RevoMini/System/alarms.c
 delete mode 100644 flight/targets/RevoMini/System/inc/alarms.h
 delete mode 100644 flight/targets/Revolution/System/alarms.c
 delete mode 100644 flight/targets/Revolution/System/inc/alarms.h
 delete mode 100644 flight/targets/SimPosix/System/alarms.c
 delete mode 100644 flight/targets/SimPosix/System/inc/alarms.h

diff --git a/flight/targets/CopterControl/System/alarms.c b/flight/Libraries/alarms.c
similarity index 76%
rename from flight/targets/CopterControl/System/alarms.c
rename to flight/Libraries/alarms.c
index 01d79a1e5..6f5d53d8b 100644
--- a/flight/targets/CopterControl/System/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -87,6 +87,42 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
 
 }
 
+/**
+ * Set an Extended Alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @param status: the Extended alarm status field
+ * @param subStatus: the Extended alarm substatus field
+ * @return 0 if success, -1 if an error
+ */
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus)
+{
+    SystemAlarmsData alarms;
+
+        // Check that this is a valid alarm
+        if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
+        {
+            return -1;
+        }
+
+        // Lock
+        xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+        // Read alarm and update its severity only if it was changed
+        SystemAlarmsGet(&alarms);
+        if ( alarms.Alarm[alarm] != severity )
+        {
+            alarms.ExtendedAlarmStatus[alarm] = status;
+            alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
+            alarms.Alarm[alarm] = severity;
+            SystemAlarmsSet(&alarms);
+        }
+
+        // Release lock
+        xSemaphoreGiveRecursive(lock);
+        return 0;
+}
+
 /**
  * Get an alarm
  * @param alarm The system alarm to be read
@@ -136,7 +172,11 @@ void AlarmsDefaultAll()
  */
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 {
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM){
+        return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, 0, 0);
+    } else {
+        return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    }
 }
 
 /**
diff --git a/flight/targets/PipXtreme/System/inc/alarms.h b/flight/Libraries/inc/alarms.h
old mode 100755
new mode 100644
similarity index 91%
rename from flight/targets/PipXtreme/System/inc/alarms.h
rename to flight/Libraries/inc/alarms.h
index 9fb047dca..ad2522273
--- a/flight/targets/PipXtreme/System/inc/alarms.h
+++ b/flight/Libraries/inc/alarms.h
@@ -33,6 +33,7 @@
 
 int32_t AlarmsInitialize(void);
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus);
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
 void AlarmsDefaultAll();
diff --git a/flight/Libraries/inc/sanitycheck.h b/flight/Libraries/inc/sanitycheck.h
index 2f201da22..9ee72f3c5 100644
--- a/flight/Libraries/inc/sanitycheck.h
+++ b/flight/Libraries/inc/sanitycheck.h
@@ -29,6 +29,17 @@
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#define SANITYCHECK_STATUS_ERROR_NONE 0
+#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE 1
+
+#define BOOTFAULT_STATUS_ERROR_NONE 0
+#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT 1
+
+#if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
+    (SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
+#error incongruent SystemAlarms. Please revise the UAVO definition in SystemAlarm.xml
+#endif
+
 extern int32_t configuration_check();
 
-#endif /* SANITYCHECK_H */
\ No newline at end of file
+#endif /* SANITYCHECK_H */
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index ab5cab3bf..18c73ea00 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -49,8 +49,9 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
  */
 int32_t configuration_check()
 {
-	int32_t status = SYSTEMALARMS_ALARM_OK;
-
+	int32_t severity = SYSTEMALARMS_ALARM_OK;
+	uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
+	uint8_t alarmsubstatus = 0;
 	// Get board type
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
 	bool coptercontrol = bdinfo->board_type == 0x04;
@@ -85,58 +86,61 @@ int32_t configuration_check()
 	for(uint32_t i = 0; i < num_modes; i++) {
 		switch(modes[i]) {
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
-				if (multirotor)
-					status = SYSTEMALARMS_ALARM_ERROR;
+				if (multirotor) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
-					status = SYSTEMALARMS_ALARM_ERROR;
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
+						severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+						severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol){
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+					severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			default:
 				// Uncovered modes are automatically an error
-				status = SYSTEMALARMS_ALARM_ERROR;
+				severity = SYSTEMALARMS_ALARM_ERROR;
 		}
+		// mark the first encountered erroneous setting in status and substatus
+		if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
+		{
+		    alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
+		    alarmsubstatus = i;
+		}
+
 	}
 
 	// TODO: Check on a multirotor no axis supports "None"
-	if(status != SYSTEMALARMS_ALARM_OK)
-		AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
+	if(severity != SYSTEMALARMS_ALARM_OK)
+		ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
 	else
 		AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
 
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 8d6e88508..b857baeac 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -49,6 +49,8 @@
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
 #include "hwsettings.h"
+#include <sanitycheck.h>
+
 
 //#define DEBUG_THIS_FILE
 
@@ -85,6 +87,7 @@ static xTaskHandle systemTaskHandle;
 static xQueueHandle objectPersistenceQueue;
 static bool stackOverflow;
 static bool mallocFailed;
+static HwSettingsData bootHwSettings;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
@@ -171,6 +174,8 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+    // Load a copy of HwSetting active at boot time
+    HwSettingsGet(&bootHwSettings);
 	// Whenever the configuration changes, make sure it is safe to fly
 	HwSettingsConnectCallback(hwSettingsUpdatedCb);
 
@@ -303,9 +308,10 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 				retval = UAVObjDeleteMetaobjects();
 			}
 		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
-			retval = -1;
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
 			retval = PIOS_FLASHFS_Format(0);
+#else
+            retval = -1;
 #endif
 		}
 		switch(retval) {
@@ -328,7 +334,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
  */
 static void hwSettingsUpdatedCb(UAVObjEvent * ev)
 {
-	AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
+    HwSettingsData currentHwSettings;
+    HwSettingsGet(&currentHwSettings);
+    // check whether the Hw Configuration has changed from the one used at boot time
+    if(!memcmp(&bootHwSettings,&currentHwSettings,sizeof(HwSettingsData))){
+        return;
+    }
+
+	ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR,BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
 }
 
 /**
diff --git a/flight/targets/CopterControl/Makefile b/flight/targets/CopterControl/Makefile
index 1db667a81..2867232a4 100644
--- a/flight/targets/CopterControl/Makefile
+++ b/flight/targets/CopterControl/Makefile
@@ -62,7 +62,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/CopterControl/System/inc/alarms.h b/flight/targets/CopterControl/System/inc/alarms.h
deleted file mode 100644
index 9fb047dca..000000000
--- a/flight/targets/CopterControl/System/inc/alarms.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */
diff --git a/flight/targets/OSD/Makefile b/flight/targets/OSD/Makefile
index 9ff2df65d..31fe6ee57 100644
--- a/flight/targets/OSD/Makefile
+++ b/flight/targets/OSD/Makefile
@@ -48,7 +48,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/osd.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/OSD/System/alarms.c b/flight/targets/OSD/System/alarms.c
deleted file mode 100644
index e61c7c1ea..000000000
--- a/flight/targets/OSD/System/alarms.c
+++ /dev/null
@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-
diff --git a/flight/targets/OSD/System/inc/alarms.h b/flight/targets/OSD/System/inc/alarms.h
deleted file mode 100644
index b62bc531b..000000000
--- a/flight/targets/OSD/System/inc/alarms.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */
diff --git a/flight/targets/PipXtreme/System/alarms.c b/flight/targets/PipXtreme/System/alarms.c
deleted file mode 100755
index 01d79a1e5..000000000
--- a/flight/targets/PipXtreme/System/alarms.c
+++ /dev/null
@@ -1,214 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-    SystemAlarmsInitialize();
-    
-	lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
-	//AlarmsDefaultAll();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-
diff --git a/flight/targets/RevoMini/Makefile b/flight/targets/RevoMini/Makefile
index f432a535a..316853ad9 100644
--- a/flight/targets/RevoMini/Makefile
+++ b/flight/targets/RevoMini/Makefile
@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/RevoMini/System/alarms.c b/flight/targets/RevoMini/System/alarms.c
deleted file mode 100644
index e61c7c1ea..000000000
--- a/flight/targets/RevoMini/System/alarms.c
+++ /dev/null
@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-
diff --git a/flight/targets/RevoMini/System/inc/alarms.h b/flight/targets/RevoMini/System/inc/alarms.h
deleted file mode 100644
index 9fb047dca..000000000
--- a/flight/targets/RevoMini/System/inc/alarms.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */
diff --git a/flight/targets/Revolution/Makefile b/flight/targets/Revolution/Makefile
index 60ae27377..da79a2e86 100644
--- a/flight/targets/Revolution/Makefile
+++ b/flight/targets/Revolution/Makefile
@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/Revolution/System/alarms.c b/flight/targets/Revolution/System/alarms.c
deleted file mode 100644
index e61c7c1ea..000000000
--- a/flight/targets/Revolution/System/alarms.c
+++ /dev/null
@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-
diff --git a/flight/targets/Revolution/System/inc/alarms.h b/flight/targets/Revolution/System/inc/alarms.h
deleted file mode 100644
index 9fb047dca..000000000
--- a/flight/targets/Revolution/System/inc/alarms.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */
diff --git a/flight/targets/SimPosix/Makefile b/flight/targets/SimPosix/Makefile
index 47b90c6ec..6b948a6fd 100644
--- a/flight/targets/SimPosix/Makefile
+++ b/flight/targets/SimPosix/Makefile
@@ -78,7 +78,7 @@ SRC += ${OUTDIR}/InitMods.c
 SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/simposix.c
 SRC += $(OPSYSTEM)/pios_board.c
-SRC += $(OPSYSTEM)/alarms.c
+SRC += $(FLIGHTLIB)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/SimPosix/System/alarms.c b/flight/targets/SimPosix/System/alarms.c
deleted file mode 100644
index 6ccd5fb62..000000000
--- a/flight/targets/SimPosix/System/alarms.c
+++ /dev/null
@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-
diff --git a/flight/targets/SimPosix/System/inc/alarms.h b/flight/targets/SimPosix/System/inc/alarms.h
deleted file mode 100644
index 0f0faeb8f..000000000
--- a/flight/targets/SimPosix/System/inc/alarms.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index 82da544e2..8780d031d 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -1,12 +1,13 @@
 <xml>
     <object name="SystemAlarms" singleinstance="true" settings="false">
-        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.</description>
+        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.Some modules may have a module defined Status and Substatus fields that details its condition</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
 		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
 			<elementname>OutOfMemory</elementname>
 			<elementname>StackOverflow</elementname>
 			<elementname>CPUOverload</elementname>
-			<elementname>SystemConfiguration</elementname>
 			<elementname>EventSystem</elementname>
 			<elementname>Telemetry</elementname>
 			<elementname>ManualControl</elementname>
@@ -19,10 +20,21 @@
 			<elementname>FlightTime</elementname>
 			<elementname>I2C</elementname>
 			<elementname>GPS</elementname>
-			<elementname>BootFault</elementname>
 			<elementname>Power</elementname>
 		</elementnames>
 	</field>
+	<field name="ExtendedAlarmStatus" units="" type="uint8" defaultvalue="0">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+	</field>
+	<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+	</field>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

From 23c0c3585c395e932049724d64a65cc83833515a Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 1 Apr 2013 16:41:12 +0200
Subject: [PATCH 012/125] OP-886 Fixes to styles and includes

+review OPReview-430
---
 flight/Libraries/alarms.c         | 47 +++++++++++++++++--------------
 flight/Libraries/sanitycheck.c    | 16 +++++++----
 flight/Modules/System/systemmod.c | 31 ++++++++++----------
 3 files changed, 52 insertions(+), 42 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index 6f5d53d8b..2e79a156a 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -28,7 +28,7 @@
  */
 
 #include "openpilot.h"
-#include "alarms.h"
+#include "inc/alarms.h"
 
 // Private constants
 
@@ -71,7 +71,10 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
 	}
 
 	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+    if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
+        return -1;
+    }
+
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
@@ -99,28 +102,30 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions
 {
     SystemAlarmsData alarms;
 
-        // Check that this is a valid alarm
-        if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
-        {
-            return -1;
-        }
+    // Check that this is a valid alarm
+    if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
+    {
+        return -1;
+    }
 
-        // Lock
-        xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+    // Lock
+    if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
+        return -1;
+    }
 
-        // Read alarm and update its severity only if it was changed
-        SystemAlarmsGet(&alarms);
-        if ( alarms.Alarm[alarm] != severity )
-        {
-            alarms.ExtendedAlarmStatus[alarm] = status;
-            alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
-            alarms.Alarm[alarm] = severity;
-            SystemAlarmsSet(&alarms);
-        }
+    // Read alarm and update its severity only if it was changed
+    SystemAlarmsGet(&alarms);
+    if (alarms.Alarm[alarm] != severity)
+    {
+        alarms.ExtendedAlarmStatus[alarm] = status;
+        alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
+        alarms.Alarm[alarm] = severity;
+        SystemAlarmsSet(&alarms);
+    }
 
-        // Release lock
-        xSemaphoreGiveRecursive(lock);
-        return 0;
+    // Release lock
+    xSemaphoreGiveRecursive(lock);
+    return 0;
 }
 
 /**
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index 18c73ea00..b14fe30e6 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -26,13 +26,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
-#include "taskmonitor.h"
+#include <openpilot.h>
 #include <pios_board_info.h>
-#include "sanitycheck.h"
-#include "manualcontrolsettings.h"
-#include "systemalarms.h"
-#include "systemsettings.h"
+
+// Private includes
+#include "inc/taskmonitor.h"
+#include "inc/sanitycheck.h"
+
+// UAVOs
+#include <manualcontrolsettings.h>
+#include <systemalarms.h>
+#include <systemsettings.h>
 
 /****************************
  * Current checks:
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index b857baeac..5e5769b8a 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -38,17 +38,20 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
-#include "systemmod.h"
-#include "objectpersistence.h"
-#include "flightstatus.h"
-#include "systemstats.h"
-#include "systemsettings.h"
-#include "i2cstats.h"
-#include "taskinfo.h"
-#include "watchdogstatus.h"
-#include "taskmonitor.h"
-#include "hwsettings.h"
+#include <openpilot.h>
+// private includes
+#include "inc/systemmod.h"
+// UAVOs
+#include <objectpersistence.h>
+#include <flightstatus.h>
+#include <systemstats.h>
+#include <systemsettings.h>
+#include <i2cstats.h>
+#include <taskinfo.h>
+#include <watchdogstatus.h>
+#include <taskmonitor.h>
+#include <hwsettings.h>
+// Flight Libraries
 #include <sanitycheck.h>
 
 
@@ -337,11 +340,9 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev)
     HwSettingsData currentHwSettings;
     HwSettingsGet(&currentHwSettings);
     // check whether the Hw Configuration has changed from the one used at boot time
-    if(!memcmp(&bootHwSettings,&currentHwSettings,sizeof(HwSettingsData))){
-        return;
+    if(memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0){
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR,BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
     }
-
-	ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR,BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
 }
 
 /**

From 460873884fc65275f4d0d920d6c048d2c5d7de9c Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Tue, 2 Apr 2013 14:39:42 +0100
Subject: [PATCH 013/125] New OP 3D boards

- Revolution
- OP GPS
- OPLink
---
 artwork/3D Model/boards/OPGPS/OPGPS.3DS       | Bin 0 -> 272724 bytes
 artwork/3D Model/boards/OPGPS/OPGPS.jpg       | Bin 0 -> 132052 bytes
 artwork/3D Model/boards/OPGPS/TEXTURE.PNG     | Bin 0 -> 192210 bytes
 artwork/3D Model/boards/OPLink/OPLink.3DS     | Bin 0 -> 404336 bytes
 artwork/3D Model/boards/OPLink/OPLink.jpg     | Bin 0 -> 132056 bytes
 artwork/3D Model/boards/OPLink/TEXTURE.PNG    | Bin 0 -> 258812 bytes
 .../3D Model/boards/Revolution/Revolution.3DS | Bin 0 -> 1198415 bytes
 .../3D Model/boards/Revolution/Revolution.jpg | Bin 0 -> 267716 bytes
 .../3D Model/boards/Revolution/TEXTURE.PNG    | Bin 0 -> 352133 bytes
 .../models/boards/Revolution/Revolution.3DS   | Bin 0 -> 1198415 bytes
 .../models/boards/Revolution/TEXTURE.PNG      | Bin 0 -> 352133 bytes
 11 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 artwork/3D Model/boards/OPGPS/OPGPS.3DS
 create mode 100644 artwork/3D Model/boards/OPGPS/OPGPS.jpg
 create mode 100644 artwork/3D Model/boards/OPGPS/TEXTURE.PNG
 create mode 100644 artwork/3D Model/boards/OPLink/OPLink.3DS
 create mode 100644 artwork/3D Model/boards/OPLink/OPLink.jpg
 create mode 100644 artwork/3D Model/boards/OPLink/TEXTURE.PNG
 create mode 100644 artwork/3D Model/boards/Revolution/Revolution.3DS
 create mode 100644 artwork/3D Model/boards/Revolution/Revolution.jpg
 create mode 100644 artwork/3D Model/boards/Revolution/TEXTURE.PNG
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/boards/Revolution/Revolution.3DS
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/boards/Revolution/TEXTURE.PNG

diff --git a/artwork/3D Model/boards/OPGPS/OPGPS.3DS b/artwork/3D Model/boards/OPGPS/OPGPS.3DS
new file mode 100644
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diff --git a/artwork/3D Model/boards/OPGPS/TEXTURE.PNG b/artwork/3D Model/boards/OPGPS/TEXTURE.PNG
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/boards/Revolution/TEXTURE.PNG b/ground/openpilotgcs/share/openpilotgcs/models/boards/Revolution/TEXTURE.PNG
new file mode 100644
index 0000000000000000000000000000000000000000..cfc4d7f6ae9f04b093fc47a2da69781a7ab8b93f
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From a2ddcf7f3b1ec981846597225f72454a3123fefc Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Tue, 2 Apr 2013 15:08:28 +0100
Subject: [PATCH 014/125] Added the Zagi plane to the openpilotgcs

Added the Zagi plane to the openpilotgcs folder, because this model wasn't added to the ModelView before.
---
 .../models/planes/zagi/texture.jpg             | Bin 0 -> 5071 bytes
 .../openpilotgcs/models/planes/zagi/zagi.3ds   | Bin 0 -> 489559 bytes
 .../openpilotgcs/models/planes/zagi/zagi.jpg   | Bin 0 -> 85832 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/planes/zagi/texture.jpg
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/planes/zagi/zagi.3ds
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/planes/zagi/zagi.jpg

diff --git a/ground/openpilotgcs/share/openpilotgcs/models/planes/zagi/texture.jpg b/ground/openpilotgcs/share/openpilotgcs/models/planes/zagi/texture.jpg
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literal 0
HcmV?d00001


From a697f293b65366cea4e0cd2a1d31e9065260db65 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Tue, 2 Apr 2013 19:43:19 +0200
Subject: [PATCH 015/125] OP-885 Added and replaced some artwork for Revolution
 board and other.

---
 .../default_configurations/OpenPilotGCS.xml   |  11 +++
 ground/openpilotgcs/share/share.pro           |   2 +-
 .../src/plugins/uploader/devicewidget.cpp     |   6 +-
 .../src/plugins/uploader/devicewidget.ui      |  10 ++-
 .../plugins/uploader/images/gcs-board-cc.png  | Bin 29334 -> 242648 bytes
 .../uploader/images/gcs-board-cc3d.png        | Bin 28905 -> 247305 bytes
 .../uploader/images/gcs-board-oplink.png      | Bin 0 -> 237167 bytes
 .../uploader/images/gcs-board-revo.png        | Bin 0 -> 360380 bytes
 .../plugins/uploader/runningdevicewidget.cpp  |  55 ++++----------
 .../plugins/uploader/runningdevicewidget.ui   |  71 +++++++++++++++++-
 .../src/plugins/uploader/uploader.qrc         |   2 +
 .../src/plugins/uploader/uploader.ui          |  22 +++---
 .../plugins/uploader/uploadergadgetwidget.cpp |   4 +-
 13 files changed, 121 insertions(+), 62 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uploader/images/gcs-board-oplink.png
 create mode 100644 ground/openpilotgcs/src/plugins/uploader/images/gcs-board-revo.png

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 7e6179226..f3fdb13e8 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -1561,6 +1561,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </CC3D>
+      <Revolution>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/boards/Revolution/revolution.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Revolution>
       <Easyquad__PCT__20X>
         <configInfo>
           <locked>false</locked>
diff --git a/ground/openpilotgcs/share/share.pro b/ground/openpilotgcs/share/share.pro
index c53b22640..3c2a517b8 100644
--- a/ground/openpilotgcs/share/share.pro
+++ b/ground/openpilotgcs/share/share.pro
@@ -9,7 +9,7 @@ equals(copydata, 1) {
    for(dir, DATACOLLECTIONS) {
        exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
            macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
-           win32:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
+           win32:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
            unix:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
            unix:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
        }
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index 081a847c2..86d3d6aec 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -95,7 +95,7 @@ void deviceWidget::populate()
         devicePic.load("");//TODO
         break;
     case 0x0301:
-        devicePic.load(":/uploader/images/pipx.png");
+        devicePic.load(":/uploader/images/gcs-board-oplink.png");
         break;
     case 0x0401:
         devicePic.load(":/uploader/images/gcs-board-cc.png");
@@ -103,7 +103,11 @@ void deviceWidget::populate()
     case 0x0402:
         devicePic.load(":/uploader/images/gcs-board-cc3d.png");
         break;
+    case 0x0903:
+        devicePic.load(":/uploader/images/gcs-board-revo.png");
+        break;
     default:
+        devicePic.load(""); //Clear
         break;
     }
     myDevice->gVDevice->scene()->addPixmap(devicePic);
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
index b7c7849da..03a7b1a18 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>576</width>
+    <width>584</width>
     <height>500</height>
    </rect>
   </property>
@@ -24,12 +24,18 @@
        <layout class="QHBoxLayout" name="horizontalLayout_6">
         <item>
          <widget class="QGraphicsView" name="gVDevice">
-          <property name="maximumSize">
+          <property name="minimumSize">
            <size>
             <width>160</width>
             <height>160</height>
            </size>
           </property>
+          <property name="maximumSize">
+           <size>
+            <width>350</width>
+            <height>350</height>
+           </size>
+          </property>
           <property name="styleSheet">
            <string notr="true">background: transparent</string>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc.png b/ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc.png
index ee096b76e3a78e8bf53be2976251468a7d17b8e1..ee6affc3cd5e5d5d7208418dcf1b53b41a7c6d29 100644
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literal 0
HcmV?d00001

diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 143d1e81c..60cb8cb2c 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -59,7 +59,6 @@ void runningDeviceWidget::resizeEvent(QResizeEvent* event)
   */
 void runningDeviceWidget::populate()
 {
-
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
     int id = utilMngr->getBoardModel();
@@ -81,7 +80,7 @@ void runningDeviceWidget::populate()
         devicePic.load("");//TODO
         break;
     case 0x0301:
-        devicePic.load(":/uploader/images/pipx.png");
+        devicePic.load(":/uploader/images/gcs-board-oplink.png");
         break;
     case 0x0401:
         devicePic.load(":/uploader/images/gcs-board-cc.png");
@@ -89,7 +88,11 @@ void runningDeviceWidget::populate()
     case 0x0402:
         devicePic.load(":/uploader/images/gcs-board-cc3d.png");
         break;
+    case 0x0903:
+        devicePic.load(":/uploader/images/gcs-board-revo.png");
+        break;
     default:
+        devicePic.load(""); //Clear
         break;
     }
     myDevice->devicePicture->scene()->addPixmap(devicePic);
@@ -97,65 +100,33 @@ void runningDeviceWidget::populate()
     myDevice->devicePicture->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 
     QString serial = utilMngr->getBoardCPUSerial().toHex();
-     myDevice->CPUSerial->setText(serial);
+    myDevice->CPUSerial->setText(serial);
 
     QByteArray description = utilMngr->getBoardDescription();
     deviceDescriptorStruct devDesc;
-    if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
-    {
-        if(devDesc.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
-        {
-            myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.gitTag);
+    if(UAVObjectUtilManager::descriptionToStructure(description, devDesc)) {
+        if(devDesc.gitTag.startsWith("RELEASE",Qt::CaseSensitive)) {
+            myDevice->lblFWTag->setText(QString("Firmware tag: ") + devDesc.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
             myDevice->lblCertified->setPixmap(pix);
             myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
 
-        }
-        else
-        {
-            myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.gitTag);
+        } else {
+            myDevice->lblFWTag->setText(QString("Firmware tag: ") + devDesc.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
             myDevice->lblCertified->setPixmap(pix);
             myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
         }
-        myDevice->lblGitCommitTag->setText("Git commit hash: "+devDesc.gitHash);
+        myDevice->lblGitCommitTag->setText("Git commit hash: " + devDesc.gitHash);
         myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.gitDate.insert(4,"-").insert(7,"-"));
     }
     else
     {
-
-        myDevice->lblFWTag->setText(QString("Firmware tag: ")+QString(description).left(QString(description).indexOf(QChar(255))));
+        myDevice->lblFWTag->setText(QString("Firmware tag: ") + QString(description).left(QString(description).indexOf(QChar(255))));
         myDevice->lblGitCommitTag->setText("Git commit tag: Unknown");
         myDevice->lblFWDate->setText(QString("Firmware date: Unknown"));
         QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
         myDevice->lblCertified->setPixmap(pix);
         myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
     }
-    //status("Ready...", STATUSICON_INFO);
 }
-
-
-/**
-  Updates status message
-  */
-/*
-void runningDeviceWidget::status(QString str, StatusIcon ic)
-{
-    QPixmap px;
-    myDevice->statusLabel->setText(str);
-    switch (ic) {
-    case STATUSICON_RUNNING:
-        px.load(QString(":/uploader/images/system-run.svg"));
-        break;
-    case STATUSICON_OK:
-        px.load(QString(":/uploader/images/dialog-apply.svg"));
-        break;
-    case STATUSICON_FAIL:
-        px.load(QString(":/uploader/images/process-stop.svg"));
-        break;
-    default:
-        px.load(QString(":/uploader/images/gtk-info.svg"));
-    }
-    myDevice->statusIcon->setPixmap(px);
-}
-*/
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
index b873ded19..16542a320 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>516</width>
-    <height>299</height>
+    <width>561</width>
+    <height>387</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -22,12 +22,18 @@
      <layout class="QHBoxLayout" name="horizontalLayout_2">
       <item>
        <widget class="QGraphicsView" name="devicePicture">
-        <property name="maximumSize">
+        <property name="minimumSize">
          <size>
           <width>160</width>
           <height>160</height>
          </size>
         </property>
+        <property name="maximumSize">
+         <size>
+          <width>350</width>
+          <height>350</height>
+         </size>
+        </property>
         <property name="styleSheet">
          <string notr="true">background: transparent</string>
         </property>
@@ -43,12 +49,21 @@
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
+        <property name="renderHints">
+         <set>QPainter::Antialiasing|QPainter::HighQualityAntialiasing|QPainter::SmoothPixmapTransform|QPainter::TextAntialiasing</set>
+        </property>
        </widget>
       </item>
       <item>
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
          <widget class="QLabel" name="lblBoardName">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="text">
            <string>TextLabel</string>
           </property>
@@ -56,6 +71,12 @@
         </item>
         <item>
          <widget class="QLabel" name="lblDeviceID">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="text">
            <string>TextLabel</string>
           </property>
@@ -63,6 +84,12 @@
         </item>
         <item>
          <widget class="QLabel" name="lblHWRev">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="text">
            <string>TextLabel</string>
           </property>
@@ -72,6 +99,12 @@
          <layout class="QHBoxLayout" name="horizontalLayout">
           <item>
            <widget class="QLabel" name="lblCPU">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>CPU Serial:</string>
             </property>
@@ -79,6 +112,12 @@
           </item>
           <item>
            <widget class="QLineEdit" name="CPUSerial">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="readOnly">
              <bool>true</bool>
             </property>
@@ -86,8 +125,34 @@
           </item>
          </layout>
         </item>
+        <item>
+         <spacer name="verticalSpacer">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
        </layout>
       </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
index 2c21df666..d2cd82ca6 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
@@ -16,5 +16,7 @@
         <file>images/gcs-board-cc.png</file>
         <file>images/gcs-board-cc3d.png</file>
         <file>images/pipx.png</file>
+        <file>images/gcs-board-oplink.png</file>
+        <file>images/gcs-board-revo.png</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
index 397573535..99f06b2a2 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
@@ -175,7 +175,7 @@ halting a running board.</string>
       <property name="currentIndex">
        <number>0</number>
       </property>
-      <widget class="QWidget" name="tab">
+      <widget class="QWidget" name="defaultTab">
        <attribute name="title">
         <string>Mainboard</string>
        </attribute>
@@ -186,14 +186,14 @@ halting a running board.</string>
            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Connect telemetry&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You will get a list of devices.&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- Connect telemetry&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- You will get a list of devices.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
           </property>
          </widget>
         </item>
@@ -208,8 +208,8 @@ p, li { white-space: pre-wrap; }
        <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
       </property>
      </widget>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 706cce1fe..9ce7ab67f 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -147,7 +147,7 @@ void UploaderGadgetWidget::onPhisicalHWConnect()
   Enables widget buttons if autopilot connected
   */
 void UploaderGadgetWidget::onAutopilotConnect(){
-    QTimer::singleShot(1000,this,SLOT(populate()));
+    QTimer::singleShot(1000, this, SLOT(populate()));
 }
 
 void UploaderGadgetWidget::populate()
@@ -175,6 +175,7 @@ void UploaderGadgetWidget::populate()
   Enables widget buttons if autopilot disconnected
   */
 void UploaderGadgetWidget::onAutopilotDisconnect(){
+
     m_config->haltButton->setEnabled(false);
     m_config->resetButton->setEnabled(false);
     m_config->bootButton->setEnabled(true);
@@ -188,7 +189,6 @@ void UploaderGadgetWidget::onAutopilotDisconnect(){
     }
 }
 
-
 /**
   Tell the mainboard to go to bootloader:
    - Send the relevant IAP commands

From 8a83204715b9171faa093c79af7cc26f601bb7a8 Mon Sep 17 00:00:00 2001
From: Philippe Vanhaesendonck <op@e.bulles.eu>
Date: Wed, 3 Apr 2013 18:29:31 +0200
Subject: [PATCH 016/125] Jira OP-678 -- remove sudo from debian post-install

---
 package/linux/deb_common/postinst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package/linux/deb_common/postinst b/package/linux/deb_common/postinst
index df8022075..e58a3e1a3 100644
--- a/package/linux/deb_common/postinst
+++ b/package/linux/deb_common/postinst
@@ -20,7 +20,7 @@ set -e
 
 case "$1" in
     configure)
-        sudo udevadm control --reload-rules >&2
+        /sbin/udevadm control --reload-rules >&2
     ;;
 
     abort-upgrade|abort-remove|abort-deconfigure)

From 13dd1178a8c48e4a9181c971534fd761e1e1006f Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 3 Apr 2013 19:26:25 +0200
Subject: [PATCH 017/125] OP-886 Fixes to  styles: testing style settings for
 Eclipse

+review OPReview-430
---
 flight/Libraries/alarms.c      | 102 +++++++-------
 flight/Libraries/sanitycheck.c | 240 ++++++++++++++++-----------------
 2 files changed, 167 insertions(+), 175 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index 2e79a156a..a2840004d 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -46,12 +46,12 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
 int32_t AlarmsInitialize(void)
 {
     SystemAlarmsInitialize();
-    
-	lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
-	//AlarmsDefaultAll();
-	return 0;
+
+    lock = xSemaphoreCreateRecursiveMutex();
+    //do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
+    //AlarmsClearAll();
+    //AlarmsDefaultAll();
+    return 0;
 }
 
 /**
@@ -62,26 +62,23 @@ int32_t AlarmsInitialize(void)
  */
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
 {
-	SystemAlarmsData alarms;
+    SystemAlarmsData alarms;
 
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
+    // Check that this is a valid alarm
+    if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
         return -1;
     }
 
+    // Lock
+    if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
+        return -1;
+    }
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
+    if (alarms.Alarm[alarm] != severity) {
+        alarms.Alarm[alarm] = severity;
+        SystemAlarmsSet(&alarms);
     }
 
     // Release lock
@@ -103,20 +100,18 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions
     SystemAlarmsData alarms;
 
     // Check that this is a valid alarm
-    if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
-    {
+    if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
         return -1;
     }
 
     // Lock
-    if(xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0){
+    if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
         return -1;
     }
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
-    if (alarms.Alarm[alarm] != severity)
-    {
+    if (alarms.Alarm[alarm] != severity) {
         alarms.ExtendedAlarmStatus[alarm] = status;
         alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
         alarms.Alarm[alarm] = severity;
@@ -135,13 +130,12 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions
  */
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
 {
-	SystemAlarmsData alarms;
+    SystemAlarmsData alarms;
 
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
+    // Check that this is a valid alarm
+    if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
+        return 0;
+    }
 
     // Read alarm
     SystemAlarmsGet(&alarms);
@@ -155,7 +149,7 @@ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
  */
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
 {
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
+    return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
 }
 
 /**
@@ -163,10 +157,9 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsDefaultAll()
 {
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
+    uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+        AlarmsDefault(n);
     }
 }
 
@@ -177,7 +170,7 @@ void AlarmsDefaultAll()
  */
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 {
-    if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM){
+    if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
         return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, 0, 0);
     } else {
         return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
@@ -189,10 +182,9 @@ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsClearAll()
 {
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
+    uint32_t n;
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+        AlarmsClear(n);
     }
 }
 
@@ -202,7 +194,7 @@ void AlarmsClearAll()
  */
 int32_t AlarmsHasWarnings()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
+    return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
 }
 
 /**
@@ -211,8 +203,9 @@ int32_t AlarmsHasWarnings()
  */
 int32_t AlarmsHasErrors()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
+    return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
+}
+;
 
 /**
  * Check if there are any alarms with critical or higher severity
@@ -220,8 +213,9 @@ int32_t AlarmsHasErrors()
  */
 int32_t AlarmsHasCritical()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
+    return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
+}
+;
 
 /**
  * Check if there are any alarms with the given or higher severity
@@ -229,23 +223,21 @@ int32_t AlarmsHasCritical()
  */
 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
 {
-	SystemAlarmsData alarms;
-	uint32_t n;
+    SystemAlarmsData alarms;
+    uint32_t n;
 
-	// Lock
+    // Lock
     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 
     // Read alarms
     SystemAlarmsGet(&alarms);
 
     // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
+    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+        if (alarms.Alarm[n] >= severity) {
+            xSemaphoreGiveRecursive(lock);
+            return 1;
+        }
     }
 
     // If this point is reached then no alarms found
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index b14fe30e6..c98369597 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -53,102 +53,102 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
  */
 int32_t configuration_check()
 {
-	int32_t severity = SYSTEMALARMS_ALARM_OK;
-	uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
-	uint8_t alarmsubstatus = 0;
-	// Get board type
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
-	bool coptercontrol = bdinfo->board_type == 0x04;
+    int32_t severity = SYSTEMALARMS_ALARM_OK;
+    uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
+    uint8_t alarmsubstatus = 0;
+    // Get board type
+    const struct pios_board_info * bdinfo = &pios_board_info_blob;
+    bool coptercontrol = bdinfo->board_type == 0x04;
 
-	// Classify airframe type
-	bool multirotor = true;
-	uint8_t airframe_type;
-	SystemSettingsAirframeTypeGet(&airframe_type);
-	switch(airframe_type) {
-		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
-			multirotor = true;
-			break;
-		default:
-			multirotor = false;
-	}
+    // Classify airframe type
+    bool multirotor = true;
+    uint8_t airframe_type;
+    SystemSettingsAirframeTypeGet(&airframe_type);
+    switch(airframe_type) {
+        case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
+            multirotor = true;
+            break;
+        default:
+            multirotor = false;
+    }
 
-	// For each available flight mode position sanity check the available
-	// modes
-	uint8_t num_modes;
-	uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
-	ManualControlSettingsFlightModeNumberGet(&num_modes);
-	ManualControlSettingsFlightModePositionGet(modes);
+    // For each available flight mode position sanity check the available
+    // modes
+    uint8_t num_modes;
+    uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
+    ManualControlSettingsFlightModeNumberGet(&num_modes);
+    ManualControlSettingsFlightModePositionGet(modes);
 
-	for(uint32_t i = 0; i < num_modes; i++) {
-		switch(modes[i]) {
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
-				if (multirotor) {
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
-				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
-				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
-				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
-				if (coptercontrol) {
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
-						severity = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
-				if (coptercontrol) {
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
-						severity = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
-				if (coptercontrol){
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
-					severity = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			default:
-				// Uncovered modes are automatically an error
-				severity = SYSTEMALARMS_ALARM_ERROR;
-		}
-		// mark the first encountered erroneous setting in status and substatus
-		if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
-		{
-		    alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
-		    alarmsubstatus = i;
-		}
+    for(uint32_t i = 0; i < num_modes; i++) {
+        switch(modes[i]) {
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
+                if (multirotor) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
+                if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
+                if (coptercontrol) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
+                if (coptercontrol) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
+                if (coptercontrol){
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            default:
+                // Uncovered modes are automatically an error
+                severity = SYSTEMALARMS_ALARM_ERROR;
+        }
+        // mark the first encountered erroneous setting in status and substatus
+        if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
+        {
+            alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
+            alarmsubstatus = i;
+        }
 
-	}
+    }
 
-	// TODO: Check on a multirotor no axis supports "None"
-	if(severity != SYSTEMALARMS_ALARM_OK)
-		ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
-	else
-		AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
+    // TODO: Check on a multirotor no axis supports "None"
+    if(severity != SYSTEMALARMS_ALARM_OK)
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
+    else
+        AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
 
-	return 0;
+    return 0;
 }
 
 /**
@@ -159,39 +159,39 @@ int32_t configuration_check()
  */
 static int32_t check_stabilization_settings(int index, bool multirotor)
 {
-	// Make sure the modes have identical sizes
-	if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
-		MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
-		return SYSTEMALARMS_ALARM_ERROR;
+    // Make sure the modes have identical sizes
+    if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
+            MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
+        return SYSTEMALARMS_ALARM_ERROR;
 
-	uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
+    uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
 
-	// Get the different axis modes for this switch position
-	switch(index) {
-		case 1:
-			ManualControlSettingsStabilization1SettingsGet(modes);
-			break;
-		case 2:
-			ManualControlSettingsStabilization2SettingsGet(modes);
-			break;
-		case 3:
-			ManualControlSettingsStabilization3SettingsGet(modes);
-			break;
-		default:
-			return SYSTEMALARMS_ALARM_ERROR;
-	}
+    // Get the different axis modes for this switch position
+    switch(index) {
+        case 1:
+            ManualControlSettingsStabilization1SettingsGet(modes);
+            break;
+        case 2:
+            ManualControlSettingsStabilization2SettingsGet(modes);
+            break;
+        case 3:
+            ManualControlSettingsStabilization3SettingsGet(modes);
+            break;
+        default:
+            return SYSTEMALARMS_ALARM_ERROR;
+    }
 
-	// For multirotors verify that nothing is set to "none"
-	if (multirotor) {
-		for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
-			if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
-				return SYSTEMALARMS_ALARM_ERROR;
-		}
-	}
+    // For multirotors verify that nothing is set to "none"
+    if (multirotor) {
+        for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
+            if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
+                return SYSTEMALARMS_ALARM_ERROR;
+        }
+    }
 
-	// Warning: This assumes that certain conditions in the XML file are met.  That 
-	// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
-	// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
+    // Warning: This assumes that certain conditions in the XML file are met.  That
+    // MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
+    // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
 
-	return SYSTEMALARMS_ALARM_OK;
+    return SYSTEMALARMS_ALARM_OK;
 }

From a338257b2d7f12a9f701e3a82b207fa8a855f161 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Wed, 3 Apr 2013 19:56:41 +0200
Subject: [PATCH 018/125] OP-885 Added configuration for Zagi 3D model. Changed
 some rendering attributes and changed the name of Revomini to Revolution.

---
 .../default_configurations/OpenPilotGCS.xml           | 11 +++++++++++
 .../plugins/uavobjectutil/devicedescriptorstruct.h    |  4 ++--
 .../openpilotgcs/src/plugins/uploader/devicewidget.ui |  3 +++
 .../src/plugins/uploader/runningdevicewidget.ui       |  2 +-
 4 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index f3fdb13e8..2c86d9394 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -1572,6 +1572,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Revolution>
+      <Zagi>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/planes/zagi/zagi.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Zagi>
       <Easyquad__PCT__20X>
         <configInfo>
           <locked>false</locked>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index d1f1eb523..5dbf831e9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -35,8 +35,8 @@ public:
            case 0x0901://Revolution
                return QString("Revolution");
                break;
-           case 0x0903://Revomini
-               return QString("Revomini");
+           case 0x0903://Revo Mini
+               return QString("Revolution");
                break;
            default:
                return QString("");
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
index 03a7b1a18..cc1aec074 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
@@ -42,6 +42,9 @@
           <property name="frameShape">
            <enum>QFrame::NoFrame</enum>
           </property>
+          <property name="renderHints">
+           <set>QPainter::HighQualityAntialiasing</set>
+          </property>
          </widget>
         </item>
         <item>
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
index 16542a320..05f5b7eaf 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
@@ -50,7 +50,7 @@
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="renderHints">
-         <set>QPainter::Antialiasing|QPainter::HighQualityAntialiasing|QPainter::SmoothPixmapTransform|QPainter::TextAntialiasing</set>
+         <set>QPainter::HighQualityAntialiasing</set>
         </property>
        </widget>
       </item>

From 9c00fdcd31d6e904d73d1b9a1c1b5d809f5e377d Mon Sep 17 00:00:00 2001
From: Kevin Vertucio <kevinv033@gmail.com>
Date: Thu, 4 Apr 2013 07:04:14 -0400
Subject: [PATCH 019/125] removed dependency for QtWebKit in AboutDialog.qml

---
 ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
index 502771267..9ace9177c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml
@@ -39,7 +39,6 @@
  ****************************************************************************/
 
  import QtQuick 1.1
- import QtWebKit 1.0 
  
  
  // This is a tabbed pane element. Add a nested Rectangle to add a tab.

From f30692836a4971a78a848d0bd06ce26c712a1765 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 4 Apr 2013 20:11:57 +0200
Subject: [PATCH 020/125] OP-886 Fixes to styles

+review OPReview-430
---
 flight/Libraries/alarms.c         | 4 ++--
 flight/Modules/System/systemmod.c | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index a2840004d..c9cddee6d 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -205,7 +205,7 @@ int32_t AlarmsHasErrors()
 {
     return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
 }
-;
+
 
 /**
  * Check if there are any alarms with critical or higher severity
@@ -215,7 +215,7 @@ int32_t AlarmsHasCritical()
 {
     return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
 }
-;
+
 
 /**
  * Check if there are any alarms with the given or higher severity
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 5e5769b8a..5de110488 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -340,8 +340,8 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev)
     HwSettingsData currentHwSettings;
     HwSettingsGet(&currentHwSettings);
     // check whether the Hw Configuration has changed from the one used at boot time
-    if(memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0){
-        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR,BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
+    if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
     }
 }
 

From c801ca681c6efce871f5af75f65c15c93adafa73 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 5 Apr 2013 23:59:28 +0200
Subject: [PATCH 021/125] OP-900 update FreeRTOS to 7.4.0 also added an
 howto_update.txt file that list the necessary modifications to FreeRTOS files
 +review OPReview

---
 .../Libraries/FreeRTOS/Source/croutine.c      |  395 ++++++
 .../FreeRTOS/Source/include/FreeRTOS.h        |  109 +-
 .../FreeRTOS/Source/include/StackMacros.h     |   54 +-
 .../FreeRTOS/Source/include/croutine.h        |   54 +-
 .../Libraries/FreeRTOS/Source/include/list.h  |   71 +-
 .../FreeRTOS/Source/include/mpu_wrappers.h    |   61 +-
 .../FreeRTOS/Source/include/portable.h        |   54 +-
 .../FreeRTOS/Source/include/projdefs.h        |   54 +-
 .../Libraries/FreeRTOS/Source/include/queue.h |  276 ++++-
 .../FreeRTOS/Source/include/semphr.h          |   54 +-
 .../Libraries/FreeRTOS/Source/include/task.h  |  195 ++-
 .../FreeRTOS/Source/include/timers.h          |   56 +-
 .../Common/Libraries/FreeRTOS/Source/list.c   |   62 +-
 .../FreeRTOS/Source/portable/MemMang/heap_1.c |  346 +++---
 .../FreeRTOS/Source/portable/MemMang/heap_2.c |  165 ++-
 .../FreeRTOS/Source/portable/MemMang/heap_3.c |   59 +-
 .../FreeRTOS/Source/portable/MemMang/heap_4.c |  359 ++++++
 .../FreeRTOS/Source/portable/readme.txt       |   19 +
 .../Common/Libraries/FreeRTOS/Source/queue.c  | 1061 +++++++++++------
 .../Libraries/FreeRTOS/Source/readme.txt      |   17 +
 .../Common/Libraries/FreeRTOS/Source/tasks.c  |  898 +++++++++-----
 .../Common/Libraries/FreeRTOS/Source/timers.c |  127 +-
 .../Libraries/FreeRTOS/howto_upgrade.txt      |   92 ++
 .../Source/portable/GCC/ARM_CM3/port.c        |  315 ++++-
 .../Source/portable/GCC/ARM_CM3/portmacro.h   |  155 +--
 .../FreeRTOS/Source/portable/MemMang/heap_2.c |  294 -----
 .../FreeRTOS/Source/portable/MemMang/heap_3.c |  117 --
 flight/PiOS/STM32F10x/library.mk              |    2 +-
 .../Source/portable/GCC/ARM_CM4F/port.c       |  322 ++++-
 .../Source/portable/GCC/ARM_CM4F/portmacro.h  |  149 +--
 .../FreeRTOS/Source/portable/MemMang/heap_1.c |  160 ---
 .../targets/OSD/System/inc/FreeRTOSConfig.h   |    2 +-
 .../RevoMini/System/inc/FreeRTOSConfig.h      |    2 +-
 .../Revolution/System/inc/FreeRTOSConfig.h    |    2 +-
 34 files changed, 3957 insertions(+), 2201 deletions(-)
 create mode 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c
 rename flight/PiOS/{STM32F10x => Common}/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c (53%)
 rename flight/PiOS/{STM32F4xx => Common}/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c (66%)
 rename flight/PiOS/{STM32F4xx => Common}/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c (55%)
 create mode 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
 create mode 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c
 create mode 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
 mode change 100755 => 100644 flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c
 create mode 100644 flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
 delete mode 100644 flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
 delete mode 100644 flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
 mode change 100755 => 100644 flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
 mode change 100755 => 100644 flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
 delete mode 100644 flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c

diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c
new file mode 100644
index 000000000..e7ae7b612
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c
@@ -0,0 +1,395 @@
+/*
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems, who sell the code with commercial support,
+    indemnification and middleware, under the OpenRTOS brand.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+*/
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "croutine.h"
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+	#define static
+#endif
+
+
+/* Lists for ready and blocked co-routines. --------------------*/
+static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ];	/*< Prioritised ready co-routines. */
+static xList xDelayedCoRoutineList1;									/*< Delayed co-routines. */
+static xList xDelayedCoRoutineList2;									/*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
+static xList * pxDelayedCoRoutineList;									/*< Points to the delayed co-routine list currently being used. */
+static xList * pxOverflowDelayedCoRoutineList;							/*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
+static xList xPendingReadyCoRoutineList;								/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
+
+/* Other file private variables. --------------------------------*/
+corCRCB * pxCurrentCoRoutine = NULL;
+static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0;
+static portTickType xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
+
+/* The initial state of the co-routine when it is created. */
+#define corINITIAL_STATE	( 0 )
+
+/*
+ * Place the co-routine represented by pxCRCB into the appropriate ready queue
+ * for the priority.  It is inserted at the end of the list.
+ *
+ * This macro accesses the co-routine ready lists and therefore must not be
+ * used from within an ISR.
+ */
+#define prvAddCoRoutineToReadyQueue( pxCRCB )																		\
+{																													\
+	if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority )															\
+	{																												\
+		uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;															\
+	}																												\
+	vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );	\
+}
+
+/*
+ * Utility to ready all the lists used by the scheduler.  This is called
+ * automatically upon the creation of the first co-routine.
+ */
+static void prvInitialiseCoRoutineLists( void );
+
+/*
+ * Co-routines that are readied by an interrupt cannot be placed directly into
+ * the ready lists (there is no mutual exclusion).  Instead they are placed in
+ * in the pending ready list in order that they can later be moved to the ready
+ * list by the co-routine scheduler.
+ */
+static void prvCheckPendingReadyList( void );
+
+/*
+ * Macro that looks at the list of co-routines that are currently delayed to
+ * see if any require waking.
+ *
+ * Co-routines are stored in the queue in the order of their wake time -
+ * meaning once one co-routine has been found whose timer has not expired
+ * we need not look any further down the list.
+ */
+static void prvCheckDelayedList( void );
+
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex )
+{
+signed portBASE_TYPE xReturn;
+corCRCB *pxCoRoutine;
+
+	/* Allocate the memory that will store the co-routine control block. */
+	pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) );
+	if( pxCoRoutine )
+	{
+		/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
+		be created and the co-routine data structures need initialising. */
+		if( pxCurrentCoRoutine == NULL )
+		{
+			pxCurrentCoRoutine = pxCoRoutine;
+			prvInitialiseCoRoutineLists();
+		}
+
+		/* Check the priority is within limits. */
+		if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
+		{
+			uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
+		}
+
+		/* Fill out the co-routine control block from the function parameters. */
+		pxCoRoutine->uxState = corINITIAL_STATE;
+		pxCoRoutine->uxPriority = uxPriority;
+		pxCoRoutine->uxIndex = uxIndex;
+		pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
+
+		/* Initialise all the other co-routine control block parameters. */
+		vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
+		vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
+
+		/* Set the co-routine control block as a link back from the xListItem.
+		This is so we can get back to the containing CRCB from a generic item
+		in a list. */
+		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
+		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
+
+		/* Event lists are always in priority order. */
+		listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
+
+		/* Now the co-routine has been initialised it can be added to the ready
+		list at the correct priority. */
+		prvAddCoRoutineToReadyQueue( pxCoRoutine );
+
+		xReturn = pdPASS;
+	}
+	else
+	{
+		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList )
+{
+portTickType xTimeToWake;
+
+	/* Calculate the time to wake - this may overflow but this is
+	not a problem. */
+	xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
+
+	/* We must remove ourselves from the ready list before adding
+	ourselves to the blocked list as the same list item is used for
+	both lists. */
+	uxListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+
+	/* The list item will be inserted in wake time order. */
+	listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
+
+	if( xTimeToWake < xCoRoutineTickCount )
+	{
+		/* Wake time has overflowed.  Place this item in the
+		overflow list. */
+		vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+	}
+	else
+	{
+		/* The wake time has not overflowed, so we can use the
+		current block list. */
+		vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+	}
+
+	if( pxEventList )
+	{
+		/* Also add the co-routine to an event list.  If this is done then the
+		function must be called with interrupts disabled. */
+		vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckPendingReadyList( void )
+{
+	/* Are there any co-routines waiting to get moved to the ready list?  These
+	are co-routines that have been readied by an ISR.  The ISR cannot access
+	the	ready lists itself. */
+	while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
+	{
+		corCRCB *pxUnblockedCRCB;
+
+		/* The pending ready list can be accessed by an ISR. */
+		portDISABLE_INTERRUPTS();
+		{
+			pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
+			uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+		}
+		portENABLE_INTERRUPTS();
+
+		uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
+		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckDelayedList( void )
+{
+corCRCB *pxCRCB;
+
+	xPassedTicks = xTaskGetTickCount() - xLastTickCount;
+	while( xPassedTicks )
+	{
+		xCoRoutineTickCount++;
+		xPassedTicks--;
+
+		/* If the tick count has overflowed we need to swap the ready lists. */
+		if( xCoRoutineTickCount == 0 )
+		{
+			xList * pxTemp;
+
+			/* Tick count has overflowed so we need to swap the delay lists.  If there are
+			any items in pxDelayedCoRoutineList here then there is an error! */
+			pxTemp = pxDelayedCoRoutineList;
+			pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
+			pxOverflowDelayedCoRoutineList = pxTemp;
+		}
+
+		/* See if this tick has made a timeout expire. */
+		while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
+		{
+			pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
+
+			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
+			{
+				/* Timeout not yet expired. */
+				break;
+			}
+
+			portDISABLE_INTERRUPTS();
+			{
+				/* The event could have occurred just before this critical
+				section.  If this is the case then the generic list item will
+				have been moved to the pending ready list and the following
+				line is still valid.  Also the pvContainer parameter will have
+				been set to NULL so the following lines are also valid. */
+				uxListRemove( &( pxCRCB->xGenericListItem ) );
+
+				/* Is the co-routine waiting on an event also? */
+				if( pxCRCB->xEventListItem.pvContainer )
+				{
+					uxListRemove( &( pxCRCB->xEventListItem ) );
+				}
+			}
+			portENABLE_INTERRUPTS();
+
+			prvAddCoRoutineToReadyQueue( pxCRCB );
+		}
+	}
+
+	xLastTickCount = xCoRoutineTickCount;
+}
+/*-----------------------------------------------------------*/
+
+void vCoRoutineSchedule( void )
+{
+	/* See if any co-routines readied by events need moving to the ready lists. */
+	prvCheckPendingReadyList();
+
+	/* See if any delayed co-routines have timed out. */
+	prvCheckDelayedList();
+
+	/* Find the highest priority queue that contains ready co-routines. */
+	while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
+	{
+		if( uxTopCoRoutineReadyPriority == 0 )
+		{
+			/* No more co-routines to check. */
+			return;
+		}
+		--uxTopCoRoutineReadyPriority;
+	}
+
+	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
+	 of the	same priority get an equal share of the processor time. */
+	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
+
+	/* Call the co-routine. */
+	( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
+
+	return;
+}
+/*-----------------------------------------------------------*/
+
+static void prvInitialiseCoRoutineLists( void )
+{
+unsigned portBASE_TYPE uxPriority;
+
+	for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
+	{
+		vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
+	}
+
+	vListInitialise( ( xList * ) &xDelayedCoRoutineList1 );
+	vListInitialise( ( xList * ) &xDelayedCoRoutineList2 );
+	vListInitialise( ( xList * ) &xPendingReadyCoRoutineList );
+
+	/* Start with pxDelayedCoRoutineList using list1 and the
+	pxOverflowDelayedCoRoutineList using list2. */
+	pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
+	pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList )
+{
+corCRCB *pxUnblockedCRCB;
+signed portBASE_TYPE xReturn;
+
+	/* This function is called from within an interrupt.  It can only access
+	event lists and the pending ready list.  This function assumes that a
+	check has already been made to ensure pxEventList is not empty. */
+	pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
+	uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+	vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
+
+	if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+}
+
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h
old mode 100755
new mode 100644
index c12f5d76f..5024639de
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef INC_FREERTOS_H
@@ -79,6 +87,12 @@
 /* Application specific configuration options. */
 #include "FreeRTOSConfig.h"
 
+/* configUSE_PORT_OPTIMISED_TASK_SELECTION must be defined before portable.h
+is included as it is used by the port layer. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#endif
+
 /* Definitions specific to the port being used. */
 #include "portable.h"
 
@@ -121,11 +135,11 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#error Missing definition:  INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
-#ifndef INCLUDE_vTaskDelete		
+#ifndef INCLUDE_vTaskDelete
 	#error Missing definition:  INCLUDE_vTaskDelete		 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
-#ifndef INCLUDE_vTaskSuspend	
+#ifndef INCLUDE_vTaskSuspend
 	#error Missing definition:  INCLUDE_vTaskSuspend	 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
@@ -153,6 +167,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_xQueueGetMutexHolder 0
 #endif
 
+#ifndef INCLUDE_xSemaphoreGetMutexHolder
+	#define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder
+#endif
+
 #ifndef INCLUDE_pcTaskGetTaskName
 	#define INCLUDE_pcTaskGetTaskName 0
 #endif
@@ -165,6 +183,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_uxTaskGetStackHighWaterMark 0
 #endif
 
+#ifndef INCLUDE_eTaskGetState
+	#define INCLUDE_eTaskGetState 0
+#endif
+
 #ifndef configUSE_RECURSIVE_MUTEXES
 	#define configUSE_RECURSIVE_MUTEXES 0
 #endif
@@ -304,7 +326,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 
 #ifndef traceTASK_PRIORITY_DISINHERIT
 	/* Called when a task releases a mutex, the holding of which had resulted in
-	the task inheriting the priority of a higher priority task.  
+	the task inheriting the priority of a higher priority task.
 	pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the
 	mutex.  uxOriginalPriority is the task's configured (base) priority. */
 	#define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority )
@@ -336,7 +358,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define traceMOVED_TASK_TO_READY_STATE( pxTCB )
 #endif
 
-#ifndef traceQUEUE_CREATE	
+#ifndef traceQUEUE_CREATE
 	#define traceQUEUE_CREATE( pxNewQueue )
 #endif
 
@@ -518,5 +540,36 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
 #endif
 
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
+#endif
+
+#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
+	#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
+#endif
+
+#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
+	#error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
+#endif
+
+#ifndef configUSE_TICKLESS_IDLE
+	#define configUSE_TICKLESS_IDLE 0
+#endif
+
+#ifndef configPRE_SLEEP_PROCESSING
+	#define configPRE_SLEEP_PROCESSING( x )
+#endif
+
+#ifndef configPOST_SLEEP_PROCESSING
+	#define configPOST_SLEEP_PROCESSING( x )
+#endif
+
+#ifndef configUSE_QUEUE_SETS
+	#define configUSE_QUEUE_SETS 0
+#endif
+
+/* For backward compatability. */
+#define eTaskStateGet eTaskGetState
+
 #endif /* INC_FREERTOS_H */
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h
old mode 100755
new mode 100644
index daf3ce408..d8080096b
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef STACK_MACROS_H
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h
old mode 100755
new mode 100644
index f2843cde2..361bd1ea1
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef CO_ROUTINE_H
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h
old mode 100755
new mode 100644
index 28d4f248e..a08a7710c
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/list.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /*
@@ -253,6 +261,14 @@ xList * const pxConstList = ( pxList );													\
  */
 #define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) )
 
+/*
+ * Return the list a list item is contained within (referenced from).
+ *
+ * @param pxListItem The list item being queried.
+ * @return A pointer to the xList object that references the pxListItem
+ */
+#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
+
 /*
  * This provides a crude means of knowing if a list has been initialised, as
  * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
@@ -321,13 +337,16 @@ void vListInsertEnd( xList *pxList, xListItem *pxNewListItem );
  * Remove an item from a list.  The list item has a pointer to the list that
  * it is in, so only the list item need be passed into the function.
  *
- * @param vListRemove The item to be removed.  The item will remove itself from
+ * @param uxListRemove The item to be removed.  The item will remove itself from
  * the list pointed to by it's pxContainer parameter.
+ * 
+ * @return The number of items that remain in the list after the list item has
+ * been removed.
  *
- * \page vListRemove vListRemove
+ * \page uxListRemove uxListRemove
  * \ingroup LinkedList
  */
-void vListRemove( xListItem *pxItemToRemove );
+unsigned portBASE_TYPE uxListRemove( xListItem *pxItemToRemove );
 
 #ifdef __cplusplus
 }
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
old mode 100755
new mode 100644
index be49c3d88..b5bc82d80
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef MPU_WRAPPERS_H
@@ -83,6 +91,7 @@ only for ports that are using the MPU. */
 		#define vTaskDelay						MPU_vTaskDelay
 		#define uxTaskPriorityGet				MPU_uxTaskPriorityGet
 		#define vTaskPrioritySet				MPU_vTaskPrioritySet
+		#define eTaskGetState					MPU_eTaskGetState
 		#define vTaskSuspend					MPU_vTaskSuspend
 		#define xTaskIsTaskSuspended			MPU_xTaskIsTaskSuspended
 		#define vTaskResume						MPU_vTaskResume
@@ -98,6 +107,7 @@ only for ports that are using the MPU. */
 		#define uxTaskGetStackHighWaterMark		MPU_uxTaskGetStackHighWaterMark
 		#define xTaskGetCurrentTaskHandle		MPU_xTaskGetCurrentTaskHandle
 		#define xTaskGetSchedulerState			MPU_xTaskGetSchedulerState
+		#define xTaskGetIdleTaskHandle			MPU_xTaskGetIdleTaskHandle
 
 		#define xQueueGenericCreate				MPU_xQueueGenericCreate
 		#define xQueueCreateMutex				MPU_xQueueCreateMutex
@@ -110,6 +120,11 @@ only for ports that are using the MPU. */
 		#define xQueueGenericReceive			MPU_xQueueGenericReceive
 		#define uxQueueMessagesWaiting			MPU_uxQueueMessagesWaiting
 		#define vQueueDelete					MPU_vQueueDelete
+		#define xQueueGenericReset				MPU_xQueueGenericReset
+		#define xQueueCreateSet					MPU_xQueueCreateSet
+		#define xQueueSelectFromSet				MPU_xQueueSelectFromSet
+		#define xQueueAddToSet					MPU_xQueueAddToSet
+		#define xQueueRemoveFromSet				MPU_xQueueRemoveFromSet
 
 		#define pvPortMalloc					MPU_pvPortMalloc
 		#define vPortFree						MPU_vPortFree
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h
old mode 100755
new mode 100644
index 88cfbb2b7..cb353891c
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /*-----------------------------------------------------------
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h
old mode 100755
new mode 100644
index c69db9237..2d5ae42aa
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef PROJDEFS_H
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h
old mode 100755
new mode 100644
index e48cf07a6..bb4a0ff77
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -80,12 +88,25 @@ extern "C" {
 #include "mpu_wrappers.h"
 
 /**
- * Type by which queues are referenced.  For example, a call to xQueueCreate
- * returns (via a pointer parameter) an xQueueHandle variable that can then
- * be used as a parameter to xQueueSend(), xQueueReceive(), etc.
+ * Type by which queues are referenced.  For example, a call to xQueueCreate()
+ * returns an xQueueHandle variable that can then be used as a parameter to
+ * xQueueSend(), xQueueReceive(), etc.
  */
 typedef void * xQueueHandle;
 
+/**
+ * Type by which queue sets are referenced.  For example, a call to
+ * xQueueCreateSet() returns an xQueueSet variable that can then be used as a
+ * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
+ */
+typedef void * xQueueSetHandle;
+
+/**
+ * Queue sets can contain both queues and semaphores, so the
+ * xQueueSetMemberHandle is defined as a type to be used where a parameter or
+ * return value can be either an xQueueHandle or an xSemaphoreHandle.
+ */
+typedef void * xQueueSetMemberHandle;
 
 /* For internal use only. */
 #define	queueSEND_TO_BACK	( 0 )
@@ -93,6 +114,7 @@ typedef void * xQueueHandle;
 
 /* For internal use only.  These definitions *must* match those in queue.c. */
 #define queueQUEUE_TYPE_BASE				( 0U )
+#define queueQUEUE_TYPE_SET					( 0U )
 #define queueQUEUE_TYPE_MUTEX 				( 1U )
 #define queueQUEUE_TYPE_COUNTING_SEMAPHORE	( 2U )
 #define queueQUEUE_TYPE_BINARY_SEMAPHORE	( 3U )
@@ -490,7 +512,7 @@ typedef void * xQueueHandle;
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
 
 /**
  * queue. h
@@ -513,7 +535,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  *
  * This macro must not be used in an interrupt service routine.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -606,7 +628,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -700,7 +722,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -805,13 +827,13 @@ unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
  * \page vQueueDelete vQueueDelete
  * \ingroup QueueManagement
  */
-void vQueueDelete( xQueueHandle pxQueue );
+void vQueueDelete( xQueueHandle xQueue );
 
 /**
  * queue. h
  * <pre>
  portBASE_TYPE xQueueSendToFrontFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -875,14 +897,14 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
+#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
 
 
 /**
  * queue. h
  * <pre>
  portBASE_TYPE xQueueSendToBackFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -946,13 +968,13 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
  * <pre>
  portBASE_TYPE xQueueSendFromISR(
-									 xQueueHandle pxQueue,
+									 xQueueHandle xQueue,
 									 const void *pvItemToQueue,
 									 portBASE_TYPE *pxHigherPriorityTaskWoken
 								);
@@ -1020,13 +1042,13 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
  * <pre>
  portBASE_TYPE xQueueGenericSendFromISR(
-										   xQueueHandle	pxQueue,
+										   xQueueHandle		xQueue,
 										   const	void	*pvItemToQueue,
 										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
 										   portBASE_TYPE	xCopyPosition
@@ -1098,22 +1120,22 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
 
 /**
  * queue. h
  * <pre>
  portBASE_TYPE xQueueReceiveFromISR(
-									   xQueueHandle	pxQueue,
+									   xQueueHandle	xQueue,
 									   void	*pvBuffer,
-									   portBASE_TYPE	*pxTaskWoken
+									   portBASE_TYPE *pxTaskWoken
 								   );
  * </pre>
  *
  * Receive an item from a queue.  It is safe to use this function from within an
  * interrupt service routine.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -1187,15 +1209,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void
  * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken );
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken );
 
 /*
  * Utilities to query queues that are safe to use from an ISR.  These utilities
  * should be used only from witin an ISR, or within a critical section.
  */
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue );
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue );
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue );
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue );
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue );
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue );
 
 
 /*
@@ -1212,8 +1234,8 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
  * responsiveness to gain execution speed, whereas the fully featured API
  * sacrifices execution speed to ensure better interrupt responsiveness.
  */
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
 #define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
 #define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 #define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE )
@@ -1228,14 +1250,14 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const
  * should not be called directly from application code.  Instead use the macro
  * wrappers defined within croutine.h.
  */
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
+signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
+signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );
 
 /*
- * For internal use only.  Use xSemaphoreCreateMutex(), 
- * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling 
+ * For internal use only.  Use xSemaphoreCreateMutex(),
+ * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
  * these functions directly.
  */
 xQueueHandle xQueueCreateMutex( unsigned char ucQueueType );
@@ -1246,7 +1268,7 @@ void* xQueueGetMutexHolder( xQueueHandle xSemaphore );
  * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
  * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
  */
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime );
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );
 portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
 
 /*
@@ -1255,7 +1277,7 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
  * reset because there are tasks blocked on the queue waiting to either
  * receive from the queue or send to the queue.
  */
-#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE )
+#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
 
 /*
  * The registry is provided as a means for kernel aware debuggers to
@@ -1282,14 +1304,150 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
 #endif
 
 /*
- * Generic version of the queue creation function, which is in turn called by 
+ * Generic version of the queue creation function, which is in turn called by
  * any queue, semaphore or mutex creation function or macro.
  */
 xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType );
 
+/*
+ * Queue sets provide a mechanism to allow a task to block (pend) on a read
+ * operation from multiple queues or semaphores simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * A queue set must be explicitly created using a call to xQueueCreateSet()
+ * before it can be used.  Once created, standard FreeRTOS queues and semaphores
+ * can be added to the set using calls to xQueueAddToSet().
+ * xQueueSelectFromSet() is then used to determine which, if any, of the queues
+ * or semaphores contained in the set is in a state where a queue read or
+ * semaphore take operation would be successful.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are 
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * queue added to a queue set.  Therefore counting semaphores that have a high
+ * maximum count value should not be added to a queue set.
+ *
+ * Note 4:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param uxEventQueueLength Queue sets store events that occur on
+ * the queues and semaphores contained in the set.  uxEventQueueLength specifies
+ * the maximum number of events that can be queued at once.  To be absolutely
+ * certain that events are not lost uxEventQueueLength should be set to the
+ * total sum of the length of the queues added to the set, where binary
+ * semaphores and mutexes have a length of 1, and counting semaphores have a
+ * length set by their maximum count value.  Examples:
+ *  + If a queue set is to hold a queue of length 5, another queue of length 12,
+ *    and a binary semaphore, then uxEventQueueLength should be set to
+ *    (5 + 12 + 1), or 18.
+ *  + If a queue set is to hold three binary semaphores then uxEventQueueLength
+ *    should be set to (1 + 1 + 1 ), or 3.
+ *  + If a queue set is to hold a counting semaphore that has a maximum count of
+ *    5, and a counting semaphore that has a maximum count of 3, then
+ *    uxEventQueueLength should be set to (5 + 3), or 8.
+ *
+ * @return If the queue set is created successfully then a handle to the created
+ * queue set is returned.  Otherwise NULL is returned.
+ */
+xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
+
+/*
+ * Adds a queue or semaphore to a queue set that was previously created by a
+ * call to xQueueCreateSet().
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being added to
+ * the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set to which the queue or semaphore
+ * is being added.
+ *
+ * @return If the queue or semaphore was successfully added to the queue set
+ * then pdPASS is returned.  If the queue could not be successfully added to the
+ * queue set because it is already a member of a different queue set then pdFAIL
+ * is returned.
+ */
+portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+
+/*
+ * Removes a queue or semaphore from a queue set.  A queue or semaphore can only 
+ * be removed from a set if the queue or semaphore is empty.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being removed
+ * from the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set in which the queue or semaphore
+ * is included.
+ *
+ * @return If the queue or semaphore was successfully removed from the queue set
+ * then pdPASS is returned.  If the queue was not in the queue set, or the
+ * queue (or semaphore) was not empty, then pdFAIL is returned.
+ */
+portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+
+/*
+ * xQueueSelectFromSet() selects from the members of a queue set a queue or
+ * semaphore that either contains data (in the case of a queue) or is available
+ * to take (in the case of a semaphore).  xQueueSelectFromSet() effectively
+ * allows a task to block (pend) on a read operation on all the queues and
+ * semaphores in a queue set simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are 
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueSet The queue set on which the task will (potentially) block.
+ *
+ * @param xBlockTimeTicks The maximum time, in ticks, that the calling task will
+ * remain in the Blocked state (with other tasks executing) to wait for a member
+ * of the queue set to be ready for a successful queue read or semaphore take
+ * operation.
+ *
+ * @return xQueueSelectFromSet() will return the handle of a queue (cast to
+ * a xQueueSetMemberHandle type) contained in the queue set that contains data,
+ * or the handle of a semaphore (cast to a xQueueSetMemberHandle type) contained
+ * in the queue set that is available, or NULL if no such queue or semaphore
+ * exists before before the specified block time expires.
+ */
+xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks );
+
+/*
+ * A version of xQueueSelectFromSet() that can be used from an ISR.
+ */
+xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet );
+
 /* Not public API functions. */
-void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait );
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue );
+void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait );
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue );
+void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
+unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 
 #ifdef __cplusplus
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h
old mode 100755
new mode 100644
index 65c77c7c9..7ac1ab012
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef SEMAPHORE_H
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
old mode 100755
new mode 100644
index aa1733b86..4a08a46f9
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,42 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
 
-	
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-	 *    not run, what could be wrong?                                      *
-	 *                                                                       *
-	 *    http://www.FreeRTOS.org/FAQHelp.html                               *
-	 *                                                                       *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
     ***************************************************************************
 
-	
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-	
-	http://www.FreeRTOS.org/plus - Selection of FreeRTOS ecosystem products,
-	including FreeRTOS+Trace - an indispensable productivity tool.
 
-	Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-	the code with commercial support, indemnification, and middleware, under 
-	the OpenRTOS brand:  http://www.OpenRTOS.com.  High Integrity Systems also
-	provide a safety engineered and independently SIL3 certified version under 
-	the	SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems, who sell the code with commercial support,
+    indemnification and middleware, under the OpenRTOS brand.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -84,7 +91,7 @@ extern "C" {
  * MACROS AND DEFINITIONS
  *----------------------------------------------------------*/
 
-#define tskKERNEL_VERSION_NUMBER "V7.2.0"
+#define tskKERNEL_VERSION_NUMBER "V7.4.0"
 
 /**
  * task. h
@@ -131,6 +138,25 @@ typedef struct xTASK_PARAMTERS
 	xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
 } xTaskParameters;
 
+/* Task states returned by eTaskGetState. */
+typedef enum
+{
+	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
+	eReady,			/* The task being queried is in a read or pending ready list. */
+	eBlocked,		/* The task being queried is in the Blocked state. */
+	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+	eDeleted		/* The task being queried has been deleted, but its TCB has not yet been freed. */
+} eTaskState;
+
+/* Possible return values for eTaskConfirmSleepModeStatus(). */
+typedef enum
+{
+	eAbortSleep = 0,		/* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
+	eStandardSleep,			/* Enter a sleep mode that will not last any longer than the expected idle time. */
+	eNoTasksWaitingTimeout	/* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+} eSleepModeStatus;
+
+
 /*
  * Defines the priority used by the idle task.  This must not be modified.
  *
@@ -322,7 +348,7 @@ static const xTaskParameters xCheckTaskParameters =
 	// the task, with appropriate access permissions.  Different processors have
 	// different memory alignment requirements - refer to the FreeRTOS documentation
 	// for full information.
-	{											
+	{
 		// Base address					Length	Parameters
         { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
         { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
@@ -373,7 +399,7 @@ xTaskHandle xHandle;
 // ucOneKByte array.  The other two of the maximum 3 definable regions are
 // unused so set to zero.
 static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{											
+{
 	// Base address		Length		Parameters
 	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
 	{ 0,				0,			0 },
@@ -389,7 +415,7 @@ void vATask( void *pvParameters )
 	// for this purpose.  NULL is used as the task handle to indicate that this
 	// function should modify the MPU regions of the calling task.
 	vTaskAllocateMPURegions( NULL, xAltRegions );
-	
+
 	// Now the task can continue its function, but from this point on can only
 	// access its stack and the ucOneKByte array (unless any other statically
 	// defined or shared regions have been declared elsewhere).
@@ -402,7 +428,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
 
 /**
  * task. h
- * <pre>void vTaskDelete( xTaskHandle pxTask );</pre>
+ * <pre>void vTaskDelete( xTaskHandle xTask );</pre>
  *
  * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -420,7 +446,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * See the demo application file death.c for sample code that utilises
  * vTaskDelete ().
  *
- * @param pxTask The handle of the task to be deleted.  Passing NULL will
+ * @param xTask The handle of the task to be deleted.  Passing NULL will
  * cause the calling task to be deleted.
  *
  * Example usage:
@@ -439,7 +465,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * \defgroup vTaskDelete vTaskDelete
  * \ingroup Tasks
  */
-void vTaskDelete( xTaskHandle pxTaskToDelete ) PRIVILEGED_FUNCTION;
+void vTaskDelete( xTaskHandle xTaskToDelete ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * TASK CONTROL API
@@ -556,17 +582,17 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
 
 /**
  * task. h
- * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>
+ * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask );</pre>
  *
  * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Obtain the priority of any task.
  *
- * @param pxTask Handle of the task to be queried.  Passing a NULL
+ * @param xTask Handle of the task to be queried.  Passing a NULL
  * handle results in the priority of the calling task being returned.
  *
- * @return The priority of pxTask.
+ * @return The priority of xTask.
  *
  * Example usage:
    <pre>
@@ -599,11 +625,29 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
  * \defgroup uxTaskPriorityGet uxTaskPriorityGet
  * \ingroup TaskCtrl
  */
-unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>
+ * <pre>eTaskState eTaskGetState( xTaskHandle xTask );</pre>
+ *
+ * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Obtain the state of any task.  States are encoded by the eTaskState
+ * enumerated type.
+ *
+ * @param xTask Handle of the task to be queried.
+ *
+ * @return The state of xTask at the time the function was called.  Note the
+ * state of the task might change between the function being called, and the
+ * functions return value being tested by the calling task.
+ */
+eTaskState eTaskGetState( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * <pre>void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority );</pre>
  *
  * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -613,7 +657,7 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
  * A context switch will occur before the function returns if the priority
  * being set is higher than the currently executing task.
  *
- * @param pxTask Handle to the task for which the priority is being set.
+ * @param xTask Handle to the task for which the priority is being set.
  * Passing a NULL handle results in the priority of the calling task being set.
  *
  * @param uxNewPriority The priority to which the task will be set.
@@ -641,11 +685,11 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
  * \defgroup vTaskPrioritySet vTaskPrioritySet
  * \ingroup TaskCtrl
  */
-void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
+void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>
+ * <pre>void vTaskSuspend( xTaskHandle xTaskToSuspend );</pre>
  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -657,7 +701,7 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * i.e. calling vTaskSuspend () twice on the same task still only requires one
  * call to vTaskResume () to ready the suspended task.
  *
- * @param pxTaskToSuspend Handle to the task being suspended.  Passing a NULL
+ * @param xTaskToSuspend Handle to the task being suspended.  Passing a NULL
  * handle will cause the calling task to be suspended.
  *
  * Example usage:
@@ -692,11 +736,11 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * \defgroup vTaskSuspend vTaskSuspend
  * \ingroup TaskCtrl
  */
-void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
+void vTaskSuspend( xTaskHandle xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>
+ * <pre>void vTaskResume( xTaskHandle xTaskToResume );</pre>
  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -707,7 +751,7 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * vTaskResume ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * Example usage:
    <pre>
@@ -741,11 +785,11 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * \defgroup vTaskResume vTaskResume
  * \ingroup TaskCtrl
  */
-void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+void vTaskResume( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>
+ * <pre>void xTaskResumeFromISR( xTaskHandle xTaskToResume );</pre>
  *
  * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
@@ -756,12 +800,12 @@ void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * xTaskResumeFromISR ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * \defgroup vTaskResumeFromISR vTaskResumeFromISR
  * \ingroup TaskCtrl
  */
-portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * SCHEDULER CONTROL
@@ -1085,6 +1129,19 @@ void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  */
 void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
 
+/**
+ * task.h
+ * <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
+ *
+ * Returns the run time of selected task
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The run time of selected task
+ */
+unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
+
 /**
  * task.h
  * <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
@@ -1105,19 +1162,6 @@ void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  */
 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
-/**
- * task.h
- * <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
- *
- * Returns the run time of selected task
- *
- * @param xTask Handle of the task associated with the stack to be checked.
- * Set xTask to NULL to check the stack of the calling task.
- *
- * @return The run time of selected task
- */
-unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
-
 /* When using trace macros it is sometimes necessary to include tasks.h before
 FreeRTOS.h.  When this is done pdTASK_HOOK_CODE will not yet have been defined,
 so the following two prototypes will cause a compilation error.  This can be
@@ -1159,7 +1203,7 @@ constant. */
 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
 
 /**
- * xTaskGetIdleTaskHandle() is only available if 
+ * xTaskGetIdleTaskHandle() is only available if
  * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
  *
  * Simply returns the handle of the idle task.  It is not valid to call
@@ -1299,12 +1343,35 @@ signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed ch
  */
 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
 
-/* 
+/*
  * Set the uxTCBNumber of the task referenced by the xTask parameter to
  * ucHandle.
  */
 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
 
+/*
+ * If tickless mode is being used, or a low power mode is implemented, then
+ * the tick interrupt will not execute during idle periods.  When this is the
+ * case, the tick count value maintained by the scheduler needs to be kept up
+ * to date with the actual execution time by being skipped forward by the by
+ * a time equal to the idle period.
+ */
+void vTaskStepTick( portTickType xTicksToJump );
+
+/*
+ * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
+ * specific sleep function to determine if it is ok to proceed with the sleep,
+ * and if it is ok to proceed, if it is ok to sleep indefinitely.
+ *
+ * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
+ * called with the scheduler suspended, not from within a critical section.  It
+ * is therefore possible for an interrupt to request a context switch between
+ * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
+ * entered.  eTaskConfirmSleepModeStatus() should be called from a short
+ * critical section between the timer being stopped and the sleep mode being
+ * entered to ensure it is ok to proceed into the sleep mode.
+ */
+eSleepModeStatus eTaskConfirmSleepModeStatus( void );
 
 #ifdef __cplusplus
 }
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h
old mode 100755
new mode 100644
index 5f62368f5..b8bd73e59
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -230,7 +238,7 @@ typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
  *     for( ;; );
  * }
  */
-xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
+xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
 
 /**
  * void *pvTimerGetTimerID( xTimerHandle xTimer );
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c
old mode 100755
new mode 100644
index 9ae5d86e4..07baf5f4d
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -159,7 +167,7 @@ portTickType xValueOfInsertion;
 			   before vTaskStartScheduler() has been called?).
 		See http://www.freertos.org/FAQHelp.html for more tips.
 		**********************************************************************/
-		
+
 		for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
 		{
 			/* There is nothing to do here, we are just iterating to the
@@ -180,13 +188,13 @@ portTickType xValueOfInsertion;
 }
 /*-----------------------------------------------------------*/
 
-void vListRemove( xListItem *pxItemToRemove )
+unsigned portBASE_TYPE uxListRemove( xListItem *pxItemToRemove )
 {
 xList * pxList;
 
 	pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
 	pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
-	
+
 	/* The list item knows which list it is in.  Obtain the list from the list
 	item. */
 	pxList = ( xList * ) pxItemToRemove->pvContainer;
@@ -199,6 +207,8 @@ xList * pxList;
 
 	pxItemToRemove->pvContainer = NULL;
 	( pxList->uxNumberOfItems )--;
+
+	return pxList->uxNumberOfItems;
 }
 /*-----------------------------------------------------------*/
 
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
similarity index 53%
rename from flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
rename to flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
index f3abbb52c..66ffcaaec 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -1,160 +1,186 @@
-/*
-    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
-     *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
-     *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
-     *                                                                       *
-    ***************************************************************************
-
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-/*
- * The simplest possible implementation of pvPortMalloc().  Note that this
- * implementation does NOT allow allocated memory to be freed again.
- *
- * See heap_2.c and heap_3.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* Allocate the memory for the heap.  The struct is used to force byte
-alignment without using any non-portable code. */
-static union xRTOS_HEAP
-{
-	#if portBYTE_ALIGNMENT == 8
-		volatile portDOUBLE dDummy;
-	#else
-		volatile unsigned long ulDummy;
-	#endif
-	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap __attribute__ ((section (".heap")));
-
-static size_t xNextFreeByte = ( size_t ) 0;
-static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn = NULL;
-
-	/* Ensure that blocks are always aligned to the required number of bytes. */
-	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
-		{
-			/* Byte alignment required. */
-			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-		}
-	#endif
-
-	vTaskSuspendAll();
-	{
-		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
-			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
-		{
-			/* Return the next free byte then increment the index past this
-			block. */
-			pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
-			xNextFreeByte += xWantedSize;
-		}
-	}
-	xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-	/* Memory cannot be freed using this scheme.  See heap_2.c and heap_3.c
-	for alternative implementations, and the memory management pages of
-	http://www.FreeRTOS.org for more information. */
-	( void ) pv;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
-	/* Only required when static memory is not cleared. */
-	xNextFreeByte = ( size_t ) 0;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
-}
-/*-----------------------------------------------------------*/
-
-void xPortIncreaseHeapSize( size_t bytes )
-{
-	vTaskSuspendAll();
-	currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
-	xTaskResumeAll();
-}
-/*-----------------------------------------------------------*/
+/*
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
+*/
+
+
+/*
+ * The simplest possible implementation of pvPortMalloc().  Note that this
+ * implementation does NOT allow allocated memory to be freed again.
+ *
+ * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
+ * memory management pages of http://www.FreeRTOS.org for more information.
+ */
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]  __attribute__ ((section (".heap")));
+static size_t xNextFreeByte = ( size_t ) 0;
+
+static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE    (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
+
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+void *pvReturn = NULL;
+static unsigned char *pucAlignedHeap = NULL;
+
+	/* Ensure that blocks are always aligned to the required number of bytes. */
+	#if portBYTE_ALIGNMENT != 1
+		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+		{
+			/* Byte alignment required. */
+			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+		}
+	#endif
+
+	vTaskSuspendAll();
+	{
+		if( pucAlignedHeap == NULL )
+		{
+			/* Ensure the heap starts on a correctly aligned boundary. */
+			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+		}
+
+		/* Check there is enough room left for the allocation. */
+		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
+			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
+		{
+			/* Return the next free byte then increment the index past this
+			block. */
+			pvReturn = pucAlignedHeap + xNextFreeByte;
+			xNextFreeByte += xWantedSize;
+		}
+	}
+	xTaskResumeAll();
+
+	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+	}
+	#endif
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+	/* Memory cannot be freed using this scheme.  See heap_2.c, heap_3.c and
+	heap_4.c for alternative implementations, and the memory management pages of
+	http://www.FreeRTOS.org for more information. */
+	( void ) pv;
+
+	/* Force an assert as it is invalid to call this function. */
+	configASSERT( pv == NULL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* Only required when static memory is not cleared. */
+	xNextFreeByte = ( size_t ) 0;
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
+}
+/*-----------------------------------------------------------*/
+
+void xPortIncreaseHeapSize( size_t bytes )
+{
+    vTaskSuspendAll();
+    currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
+    xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
similarity index 66%
rename from flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
rename to flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
index 1fbd1831b..8870fd5bc 100644
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,37 +29,57 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /*
  * A sample implementation of pvPortMalloc() and vPortFree() that permits
  * allocated blocks to be freed, but does not combine adjacent free blocks
- * into a single larger block.
+ * into a single larger block (and so will fragment memory).  See heap_4.c for
+ * an aquivalent that does combine adjacent blocks into single larger blocks.
  *
- * See heap_1.c and heap_3.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
+ * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the
+ * memory management pages of http://www.FreeRTOS.org for more information.
  */
 #include <stdlib.h>
 
@@ -71,17 +93,16 @@ task.h is included from an application file. */
 
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
-/* Allocate the memory for the heap.  The struct is used to force byte
-alignment without using any non-portable code. */
-static union xRTOS_HEAP
-{
-	#if portBYTE_ALIGNMENT == 8
-		volatile portDOUBLE dDummy;
-	#else
-		volatile unsigned long ulDummy;
-	#endif
-	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap __attribute__ ((section (".heap")));
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* 
+ * Initialises the heap structures before their first use.
+ */
+static void prvHeapInit( void );
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
 
 /* Define the linked list structure.  This is used to link free blocks in order
 of their size. */
@@ -98,15 +119,9 @@ static const unsigned short  heapSTRUCT_SIZE	= ( sizeof( xBlockLink ) + portBYTE
 /* Create a couple of list links to mark the start and end of the list. */
 static xBlockLink xStart, xEnd;
 
-/* Markers in the heap segment */
-extern char _sheap, _eheap;
-extern char	_init_stack_top, _init_stack_end;
-
-static size_t currentTOTAL_HEAP_SIZE;
-
 /* Keeps track of the number of free bytes remaining, but says nothing about
 fragmentation. */
-static size_t xFreeBytesRemaining;
+static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE;
 
 /* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
 
@@ -136,30 +151,6 @@ size_t xBlockSize;																	\
 }
 /*-----------------------------------------------------------*/
 
-#define prvHeapInit()																\
-{																					\
-xBlockLink *pxFirstFreeBlock;														\
-																					\
-	currentTOTAL_HEAP_SIZE = &_eheap - &_sheap;										\
-	xFreeBytesRemaining = currentTOTAL_HEAP_SIZE;									\
-																					\
-	/* xStart is used to hold a pointer to the first item in the list of free */	\
-	/* blocks.  The void cast is used to prevent compiler warnings. */				\
-	xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap;								\
-	xStart.xBlockSize = ( size_t ) 0;												\
-																					\
-	/* xEnd is used to mark the end of the list of free blocks. */					\
-	xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;										\
-	xEnd.pxNextFreeBlock = NULL;													\
-																					\
-	/* To start with there is a single free block that is sized to take up the		\
-	entire heap space. */															\
-	pxFirstFreeBlock = ( void * ) xHeap.ucHeap;										\
-	pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE;							\
-	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;										\
-}
-/*-----------------------------------------------------------*/
-
 void *pvPortMalloc( size_t xWantedSize )
 {
 xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
@@ -190,13 +181,13 @@ void *pvReturn = NULL;
 			}
 		}
 
-		if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
+		if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
 		{
 			/* Blocks are stored in byte order - traverse the list from the start
 			(smallest) block until one of adequate size is found. */
 			pxPreviousBlock = &xStart;
 			pxBlock = xStart.pxNextFreeBlock;
-			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
+			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
 			{
 				pxPreviousBlock = pxBlock;
 				pxBlock = pxBlock->pxNextFreeBlock;
@@ -209,7 +200,7 @@ void *pvReturn = NULL;
 				at its start. */
 				pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
 
-				/* This block is being returned for use so must be taken our of the
+				/* This block is being returned for use so must be taken out of the
 				list of free blocks. */
 				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
 
@@ -249,28 +240,20 @@ void *pvReturn = NULL;
 	return pvReturn;
 }
 /*-----------------------------------------------------------*/
-void xPortIncreaseHeapSize( size_t bytes );
-
 
 void vPortFree( void *pv )
 {
 unsigned char *puc = ( unsigned char * ) pv;
 xBlockLink *pxLink;
 
-	/* if this is the init stack being cleaned up on termination of the init task, sacrifice it to the heap */
-	if( ( pv == (void *)&_init_stack_end ) && ( pv == &xHeap.ucHeap[currentTOTAL_HEAP_SIZE]) )
-	{
-		xPortIncreaseHeapSize(&_init_stack_top - &_init_stack_end);
-		return;
-	}
-
-	if( pv )
+	if( pv != NULL )
 	{
 		/* The memory being freed will have an xBlockLink structure immediately
 		before it. */
 		puc -= heapSTRUCT_SIZE;
 
-		/* This casting is to keep the compiler from issuing warnings. */
+		/* This unexpected casting is to keep some compilers from issuing 
+		byte alignment warnings. */
 		pxLink = ( void * ) puc;
 
 		vTaskSuspendAll();
@@ -294,25 +277,29 @@ void vPortInitialiseBlocks( void )
 {
 	/* This just exists to keep the linker quiet. */
 }
+/*-----------------------------------------------------------*/
 
-void xPortIncreaseHeapSize( size_t bytes )
+static void prvHeapInit( void )
 {
-	xBlockLink *pxNewBlockLink;
+xBlockLink *pxFirstFreeBlock;
+unsigned char *pucAlignedHeap;
 
-	vTaskSuspendAll();
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
 
-	/* increase the size of the end block so that this block will always be before it */
-	xEnd.xBlockSize += bytes;
+	/* xStart is used to hold a pointer to the first item in the list of free
+	blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
 
-	/* Insert the new block into the list of free blocks. */
-	pxNewBlockLink = ( void * ) &xHeap.ucHeap[ currentTOTAL_HEAP_SIZE ];
-	pxNewBlockLink->xBlockSize = bytes;
-	prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+	/* xEnd is used to mark the end of the list of free blocks. */
+	xEnd.xBlockSize = configADJUSTED_HEAP_SIZE;
+	xEnd.pxNextFreeBlock = NULL;
 
-	/* update heap statistics */
-	currentTOTAL_HEAP_SIZE += bytes;
-	xFreeBytesRemaining += bytes;
-
-	xTaskResumeAll();
+	/* To start with there is a single free block that is sized to take up the
+	entire heap space. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
+	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
 }
 /*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 55%
rename from flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
index 09badd223..c848852e4 100644
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,28 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -59,8 +80,8 @@
  * This file can only be used if the linker is configured to to generate
  * a heap memory area.
  *
- * See heap_2.c and heap_1.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
+ * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the 
+ * memory management pages of http://www.FreeRTOS.org for more information.
  */
 
 #include <stdlib.h>
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
new file mode 100644
index 000000000..236cc91ea
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
@@ -0,0 +1,359 @@
+/*
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
+*/
+
+/*
+ * A sample implementation of pvPortMalloc() and vPortFree() that combines 
+ * (coalescences) adjacent memory blocks as they are freed, and in so doing 
+ * limits memory fragmentation.
+ *
+ * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the 
+ * memory management pages of http://www.FreeRTOS.org for more information.
+ */
+#include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Block sizes must not get too small. */
+#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+
+/* Define the linked list structure.  This is used to link free blocks in order
+of their memory address. */
+typedef struct A_BLOCK_LINK
+{
+	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
+	size_t xBlockSize;						/*<< The size of the free block. */
+} xBlockLink;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Inserts a block of memory that is being freed into the correct position in 
+ * the list of free memory blocks.  The block being freed will be merged with
+ * the block in front it and/or the block behind it if the memory blocks are
+ * adjacent to each other.
+ */
+static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert );
+
+/*
+ * Called automatically to setup the required heap structures the first time
+ * pvPortMalloc() is called.
+ */
+static void prvHeapInit( void );
+
+/*-----------------------------------------------------------*/
+
+/* The size of the structure placed at the beginning of each allocated memory
+block must by correctly byte aligned. */
+static const unsigned short heapSTRUCT_SIZE	= ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
+
+/* Ensure the pxEnd pointer will end up on the correct byte alignment. */
+static const size_t xTotalHeapSize = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+
+/* Create a couple of list links to mark the start and end of the list. */
+static xBlockLink xStart, *pxEnd = NULL;
+
+/* Keeps track of the number of free bytes remaining, but says nothing about
+fragmentation. */
+static size_t xFreeBytesRemaining = ( ( size_t ) configADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+
+/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
+
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+void *pvReturn = NULL;
+
+	vTaskSuspendAll();
+	{
+		/* If this is the first call to malloc then the heap will require
+		initialisation to setup the list of free blocks. */
+		if( pxEnd == NULL )
+		{
+			prvHeapInit();
+		}
+
+		/* The wanted size is increased so it can contain a xBlockLink
+		structure in addition to the requested amount of bytes. */
+		if( xWantedSize > 0 )
+		{
+			xWantedSize += heapSTRUCT_SIZE;
+
+			/* Ensure that blocks are always aligned to the required number of 
+			bytes. */
+			if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+			{
+				/* Byte alignment required. */
+				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+			}
+		}
+
+		if( ( xWantedSize > 0 ) && ( xWantedSize < xTotalHeapSize ) )
+		{
+			/* Traverse the list from the start	(lowest address) block until one
+			of adequate size is found. */
+			pxPreviousBlock = &xStart;
+			pxBlock = xStart.pxNextFreeBlock;
+			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+			{
+				pxPreviousBlock = pxBlock;
+				pxBlock = pxBlock->pxNextFreeBlock;
+			}
+
+			/* If the end marker was reached then a block of adequate size was
+			not found. */
+			if( pxBlock != pxEnd )
+			{
+				/* Return the memory space - jumping over the xBlockLink structure
+				at its start. */
+				pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
+
+				/* This block is being returned for use so must be taken out of
+				the	list of free blocks. */
+				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+				/* If the block is larger than required it can be split into two. */
+				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+				{
+					/* This block is to be split into two.  Create a new block
+					following the number of bytes requested. The void cast is
+					used to prevent byte alignment warnings from the compiler. */
+					pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+
+					/* Calculate the sizes of two blocks split from the single
+					block. */
+					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+					pxBlock->xBlockSize = xWantedSize;
+
+					/* Insert the new block into the list of free blocks. */
+					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+				}
+
+				xFreeBytesRemaining -= pxBlock->xBlockSize;
+			}
+		}
+	}
+	xTaskResumeAll();
+
+	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+	}
+	#endif
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+unsigned char *puc = ( unsigned char * ) pv;
+xBlockLink *pxLink;
+
+	if( pv != NULL )
+	{
+		/* The memory being freed will have an xBlockLink structure immediately
+		before it. */
+		puc -= heapSTRUCT_SIZE;
+
+		/* This casting is to keep the compiler from issuing warnings. */
+		pxLink = ( void * ) puc;
+
+		vTaskSuspendAll();
+		{
+			/* Add this block to the list of free blocks. */
+			xFreeBytesRemaining += pxLink->xBlockSize;
+			prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );			
+		}
+		xTaskResumeAll();
+	}
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* This just exists to keep the linker quiet. */
+}
+/*-----------------------------------------------------------*/
+
+static void prvHeapInit( void )
+{
+xBlockLink *pxFirstFreeBlock;
+unsigned char *pucHeapEnd, *pucAlignedHeap;
+
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+
+	/* xStart is used to hold a pointer to the first item in the list of free
+	blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
+
+	/* pxEnd is used to mark the end of the list of free blocks and is inserted
+	at the end of the heap space. */
+	pucHeapEnd = pucAlignedHeap + xTotalHeapSize;
+	pucHeapEnd -= heapSTRUCT_SIZE;
+	pxEnd = ( void * ) pucHeapEnd;
+	configASSERT( ( ( ( unsigned long ) pxEnd ) & ( ( unsigned long ) portBYTE_ALIGNMENT_MASK ) ) == 0UL );
+	pxEnd->xBlockSize = 0;
+	pxEnd->pxNextFreeBlock = NULL;
+
+	/* To start with there is a single free block that is sized to take up the
+	entire heap space, minus the space taken by pxEnd. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = xTotalHeapSize - heapSTRUCT_SIZE;
+	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
+
+	/* The heap now contains pxEnd. */
+	xFreeBytesRemaining -= heapSTRUCT_SIZE;
+}
+/*-----------------------------------------------------------*/
+
+static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert )
+{
+xBlockLink *pxIterator;
+unsigned char *puc;
+
+	/* Iterate through the list until a block is found that has a higher address
+	than the block being inserted. */
+	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
+	{
+		/* Nothing to do here, just iterate to the right position. */
+	}
+
+	/* Do the block being inserted, and the block it is being inserted after
+	make a contiguous block of memory? */	
+	puc = ( unsigned char * ) pxIterator;
+	if( ( puc + pxIterator->xBlockSize ) == ( unsigned char * ) pxBlockToInsert )
+	{
+		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
+		pxBlockToInsert = pxIterator;
+	}
+
+	/* Do the block being inserted, and the block it is being inserted before
+	make a contiguous block of memory? */
+	puc = ( unsigned char * ) pxBlockToInsert;
+	if( ( puc + pxBlockToInsert->xBlockSize ) == ( unsigned char * ) pxIterator->pxNextFreeBlock )
+	{
+		if( pxIterator->pxNextFreeBlock != pxEnd )
+		{
+			/* Form one big block from the two blocks. */
+			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
+			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
+		}
+		else
+		{
+			pxBlockToInsert->pxNextFreeBlock = pxEnd;
+		}
+	}
+	else
+	{
+		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;		
+	}
+
+	/* If the block being inserted plugged a gab, so was merged with the block
+	before and the block after, then it's pxNextFreeBlock pointer will have
+	already been set, and should not be set here as that would make it point
+	to itself. */
+	if( pxIterator != pxBlockToInsert )
+	{
+		pxIterator->pxNextFreeBlock = pxBlockToInsert;
+	}
+}
+
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt
new file mode 100644
index 000000000..43e7c1d55
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt
@@ -0,0 +1,19 @@
+Each real time kernel port consists of three files that contain the core kernel
+components and are common to every port, and one or more files that are 
+specific to a particular microcontroller and/or compiler.
+
+
++ The FreeRTOS/Source/Portable/MemMang directory contains the three sample 
+memory allocators as described on the http://www.FreeRTOS.org WEB site.
+
++ The other directories each contain files specific to a particular 
+microcontroller or compiler.
+
+
+
+For example, if you are interested in the GCC port for the ATMega323 
+microcontroller then the port specific files are contained in
+FreeRTOS/Source/Portable/GCC/ATMega323 directory.  If this is the only
+port you are interested in then all the other directories can be
+ignored.
+
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c
old mode 100755
new mode 100644
index 4748860db..75bebd12d
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #include <stdlib.h>
@@ -74,6 +82,7 @@ task.h is included from an application file. */
 
 #include "FreeRTOS.h"
 #include "task.h"
+#include "queue.h"
 
 #if ( configUSE_CO_ROUTINES == 1 )
 	#include "croutine.h"
@@ -81,20 +90,12 @@ task.h is included from an application file. */
 
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
-
 /* Constants used with the cRxLock and xTxLock structure members. */
 #define queueUNLOCKED					( ( signed portBASE_TYPE ) -1 )
 #define queueLOCKED_UNMODIFIED			( ( signed portBASE_TYPE ) 0 )
 
 #define queueERRONEOUS_UNBLOCK			( -1 )
 
-/* For internal use only. */
-#define	queueSEND_TO_BACK				( 0 )
-#define	queueSEND_TO_FRONT				( 1 )
-
 /* Effectively make a union out of the xQUEUE structure. */
 #define pxMutexHolder					pcTail
 #define uxQueueType						pcHead
@@ -107,12 +108,6 @@ zero. */
 #define queueDONT_BLOCK					 ( ( portTickType ) 0U )
 #define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0U )
 
-/* These definitions *must* match those in queue.h. */
-#define queueQUEUE_TYPE_BASE				( 0U )
-#define queueQUEUE_TYPE_MUTEX 				( 1U )
-#define queueQUEUE_TYPE_COUNTING_SEMAPHORE	( 2U )
-#define queueQUEUE_TYPE_BINARY_SEMAPHORE	( 3U )
-#define queueQUEUE_TYPE_RECURSIVE_MUTEX		( 4U )
 
 /*
  * Definition of the queue used by the scheduler.
@@ -120,11 +115,11 @@ zero. */
  */
 typedef struct QueueDefinition
 {
-	signed char *pcHead;				/*< Points to the beginning of the queue storage area. */
-	signed char *pcTail;				/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
+	signed char *pcHead;					/*< Points to the beginning of the queue storage area. */
+	signed char *pcTail;					/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
 
-	signed char *pcWriteTo;				/*< Points to the free next place in the storage area. */
-	signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from. */
+	signed char *pcWriteTo;					/*< Points to the free next place in the storage area. */
+	signed char *pcReadFrom;				/*< Points to the last place that a queued item was read from. */
 
 	xList xTasksWaitingToSend;				/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
 	xList xTasksWaitingToReceive;			/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
@@ -135,66 +130,24 @@ typedef struct QueueDefinition
 
 	volatile signed portBASE_TYPE xRxLock;	/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
 	volatile signed portBASE_TYPE xTxLock;	/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-	
+
 	#if ( configUSE_TRACE_FACILITY == 1 )
 		unsigned char ucQueueNumber;
 		unsigned char ucQueueType;
 	#endif
 
+	#if ( configUSE_QUEUE_SETS == 1 )
+		struct QueueDefinition *pxQueueSetContainer;
+	#endif
+
 } xQUEUE;
 /*-----------------------------------------------------------*/
 
-/*
- * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
- * To keep the definition private the API header file defines it as a
- * pointer to void.
- */
-typedef xQUEUE * xQueueHandle;
-
-/*
- * Prototypes for public functions are included here so we don't have to
- * include the API header file (as it defines xQueueHandle differently).  These
- * functions are documented in the API header file.
- */
-xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
-unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION;
-xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
-
-/*
- * Co-routine queue functions differ from task queue functions.  Co-routines are
- * an optional component.
- */
-#if configUSE_CO_ROUTINES == 1
-	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-#endif
-
 /*
  * The queue registry is just a means for kernel aware debuggers to locate
  * queue structures.  It has no other purpose so is an optional component.
  */
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	/* The type stored within the queue registry array.  This allows a name
 	to be assigned to each queue making kernel aware debugging a little
@@ -212,9 +165,9 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
 
 	/* Removes a queue from the registry by simply setting the pcQueueName
 	member to NULL. */
-	static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;
-#endif
+	static void prvQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+
+#endif /* configQUEUE_REGISTRY_SIZE */
 
 /*
  * Unlocks a queue locked by a call to prvLockQueue.  Locking a queue does not
@@ -224,21 +177,21 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
  * to indicate that a task may require unblocking.  When the queue in unlocked
  * these lock counts are inspected, and the appropriate action taken.
  */
-static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any data in a queue.
  *
  * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
  */
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any space in a queue.
  *
  * @return pdTRUE if there is no space, otherwise pdFALSE;
  */
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Copies an item into the queue, either at the front of the queue or the
@@ -250,6 +203,15 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
  * Copies an item out of a queue.
  */
 static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	/*
+	 * Checks to see if a queue is a member of a queue set, and if so, notifies
+	 * the queue set that the queue contains data.
+	 */
+	static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition );
+#endif
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -271,13 +233,11 @@ static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
 	taskEXIT_CRITICAL()
 /*-----------------------------------------------------------*/
 
-
-/*-----------------------------------------------------------
- * PUBLIC QUEUE MANAGEMENT API documented in queue.h
- *----------------------------------------------------------*/
-
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue )
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
 {
+xQUEUE *pxQueue;
+
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 
 	taskENTER_CRITICAL();
@@ -291,10 +251,10 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
 
 		if( xNewQueue == pdFALSE )
 		{
-			/* If there are tasks blocked waiting to read from the queue, then 
-			the tasks will remain blocked as after this function exits the queue 
-			will still be empty.  If there are tasks blocked waiting to	write to 
-			the queue, then one should be unblocked as after this function exits 
+			/* If there are tasks blocked waiting to read from the queue, then
+			the tasks will remain blocked as after this function exits the queue
+			will still be empty.  If there are tasks blocked waiting to	write to
+			the queue, then one should be unblocked as after this function exits
 			it will be possible to write to it. */
 			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 			{
@@ -308,7 +268,7 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
 		{
 			/* Ensure the event queues start in the correct state. */
 			vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
-			vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );		
+			vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
 		}
 	}
 	taskEXIT_CRITICAL();
@@ -347,12 +307,19 @@ xQueueHandle xReturn = NULL;
 				pxNewQueue->uxLength = uxQueueLength;
 				pxNewQueue->uxItemSize = uxItemSize;
 				xQueueGenericReset( pxNewQueue, pdTRUE );
+
 				#if ( configUSE_TRACE_FACILITY == 1 )
 				{
 					pxNewQueue->ucQueueType = ucQueueType;
 				}
 				#endif /* configUSE_TRACE_FACILITY */
 
+				#if( configUSE_QUEUE_SETS == 1 )
+				{
+					pxNewQueue->pxQueueSetContainer = NULL;
+				}
+				#endif /* configUSE_QUEUE_SETS */
+
 				traceQUEUE_CREATE( pxNewQueue );
 				xReturn = pxNewQueue;
 			}
@@ -408,6 +375,12 @@ xQueueHandle xReturn = NULL;
 			}
 			#endif
 
+			#if ( configUSE_QUEUE_SETS == 1 )
+			{
+				pxNewQueue->pxQueueSetContainer = NULL;
+			}
+			#endif
+
 			/* Ensure the event queues start with the correct state. */
 			vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
 			vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
@@ -429,7 +402,7 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xQueueGetMutexHolder == 1 ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
 
 	void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
 	{
@@ -438,13 +411,13 @@ xQueueHandle xReturn = NULL;
 		/* This function is called by xSemaphoreGetMutexHolder(), and should not
 		be called directly.  Note:  This is is a good way of determining if the
 		calling task is the mutex holder, but not a good way of determining the
-		identity of the mutex holder, as the holder may change between the 
+		identity of the mutex holder, as the holder may change between the
 		following critical section exiting and the function returning. */
 		taskENTER_CRITICAL();
 		{
-			if( xSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
+			if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
 			{
-				pxReturn = ( void * ) xSemaphore->pxMutexHolder;
+				pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
 			}
 			else
 			{
@@ -452,7 +425,7 @@ xQueueHandle xReturn = NULL;
 			}
 		}
 		taskEXIT_CRITICAL();
-		
+
 		return pxReturn;
 	}
 
@@ -461,10 +434,12 @@ xQueueHandle xReturn = NULL;
 
 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
+	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE *pxMutex;
 
+		pxMutex = ( xQUEUE * ) xMutex;
 		configASSERT( pxMutex );
 
 		/* If this is the task that holds the mutex then pxMutexHolder will not
@@ -508,12 +483,14 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_RECURSIVE_MUTEXES == 1
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
+	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE *pxMutex;
 
+		pxMutex = ( xQUEUE * ) xMutex;
 		configASSERT( pxMutex );
 
 		/* Comments regarding mutual exclusion as per those within
@@ -548,17 +525,17 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_COUNTING_SEMAPHORES == 1
+#if ( configUSE_COUNTING_SEMAPHORES == 1 )
 
 	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
 	{
-	xQueueHandle pxHandle;
+	xQueueHandle xHandle;
 
-		pxHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
+		xHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
 
-		if( pxHandle != NULL )
+		if( xHandle != NULL )
 		{
-			pxHandle->uxMessagesWaiting = uxInitialCount;
+			( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
 
 			traceCREATE_COUNTING_SEMAPHORE();
 		}
@@ -567,18 +544,20 @@ xQueueHandle xReturn = NULL;
 			traceCREATE_COUNTING_SEMAPHORE_FAILED();
 		}
 
-		configASSERT( pxHandle );
-		return pxHandle;
+		configASSERT( xHandle );
+		return xHandle;
 	}
 
 #endif /* configUSE_COUNTING_SEMAPHORES */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
+xQUEUE *pxQueue;
 
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -596,19 +575,52 @@ xTimeOutType xTimeOut;
 				traceQUEUE_SEND( pxQueue );
 				prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-				/* If there was a task waiting for data to arrive on the
-				queue then unblock it now. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The unblocked task has a priority higher than
-						our own so yield immediately.  Yes it is ok to do
-						this from within the critical section - the kernel
-						takes care of that. */
-						portYIELD_WITHIN_API();
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
+						{
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock. A context switch is required. */
+							portYIELD_WITHIN_API();
+						}
+					}
+					else
+					{
+						/* If there was a task waiting for data to arrive on the
+						queue then unblock it now. */
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+							{
+								/* The unblocked task has a priority higher than
+								our own so yield immediately.  Yes it is ok to
+								do this from within the critical section - the
+								kernel takes care of that. */
+								portYIELD_WITHIN_API();
+							}
+						}
 					}
 				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					/* If there was a task waiting for data to arrive on the
+					queue then unblock it now. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+						{
+							/* The unblocked task has a priority higher than
+							our own so yield immediately.  Yes it is ok to do
+							this from within the critical section - the kernel
+							takes care of that. */
+							portYIELD_WITHIN_API();
+						}
+					}
+				}
+				#endif /* configUSE_QUEUE_SETS */
 
 				taskEXIT_CRITICAL();
 
@@ -693,13 +705,15 @@ xTimeOutType xTimeOut;
 }
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
+	xQUEUE *pxQueue;
 
+		pxQueue = ( xQUEUE * ) xQueue;
 		configASSERT( pxQueue );
 		configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -770,14 +784,16 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
 	signed char *pcOriginalReadPosition;
+	xQUEUE *pxQueue;
 
+		pxQueue = ( xQUEUE * ) xQueue;
 		configASSERT( pxQueue );
 		configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -874,7 +890,9 @@ xTimeOutType xTimeOut;
 							if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
 							{
 								portENTER_CRITICAL();
+								{
 									vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
+								}
 								portEXIT_CRITICAL();
 							}
 						}
@@ -899,11 +917,13 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE *pxQueue;
 
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -924,18 +944,53 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 			be done when the queue is unlocked later. */
 			if( pxQueue->xTxLock == queueUNLOCKED )
 			{
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The task waiting has a higher priority so record that a
-						context	switch is required. */
-						if( pxHigherPriorityTaskWoken != NULL )
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
 						{
-							*pxHigherPriorityTaskWoken = pdTRUE;
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock.  A context switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
+					}
+					else
+					{
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+							{
+								/* The task waiting has a higher priority so record that a
+								context	switch is required. */
+								if( pxHigherPriorityTaskWoken != NULL )
+								{
+									*pxHigherPriorityTaskWoken = pdTRUE;
+								}
+							}
 						}
 					}
 				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
+					}
+				}
+				#endif /* configUSE_QUEUE_SETS */
 			}
 			else
 			{
@@ -958,12 +1013,14 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
 signed char *pcOriginalReadPosition;
+xQUEUE *pxQueue;
 
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -1014,7 +1071,7 @@ signed char *pcOriginalReadPosition;
 				{
 					traceQUEUE_PEEK( pxQueue );
 
-					/* We are not removing the data, so reset our read
+					/* The data is not being removed, so reset the read
 					pointer. */
 					pxQueue->pcReadFrom = pcOriginalReadPosition;
 
@@ -1107,11 +1164,13 @@ signed char *pcOriginalReadPosition;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE *pxQueue;
 
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
@@ -1164,38 +1223,45 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
-	configASSERT( pxQueue );
+	configASSERT( xQueue );
 
 	taskENTER_CRITICAL();
-		uxReturn = pxQueue->uxMessagesWaiting;
+		uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 	taskEXIT_CRITICAL();
 
 	return uxReturn;
 }
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
-	configASSERT( pxQueue );
+	configASSERT( xQueue );
 
-	uxReturn = pxQueue->uxMessagesWaiting;
+	uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 
 	return uxReturn;
 }
 /*-----------------------------------------------------------*/
 
-void vQueueDelete( xQueueHandle pxQueue )
+void vQueueDelete( xQueueHandle xQueue )
 {
+xQUEUE *pxQueue;
+
+	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 
 	traceQUEUE_DELETE( pxQueue );
-	vQueueUnregisterQueue( pxQueue );
+	#if ( configQUEUE_REGISTRY_SIZE > 0 )
+	{
+		prvQueueUnregisterQueue( pxQueue );
+	}
+	#endif
 	vPortFree( pxQueue->pcHead );
 	vPortFree( pxQueue );
 }
@@ -1203,32 +1269,32 @@ void vQueueDelete( xQueueHandle pxQueue )
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue )
+	unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )
 	{
-		return pxQueue->ucQueueNumber;
+		return ( ( xQUEUE * ) xQueue )->ucQueueNumber;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber )
+	void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )
 	{
-		pxQueue->ucQueueNumber = ucQueueNumber;
+		( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	unsigned char ucQueueGetQueueType( xQueueHandle pxQueue )
+	unsigned char ucQueueGetQueueType( xQueueHandle xQueue )
 	{
-		return pxQueue->ucQueueType;
+		return ( ( xQUEUE * ) xQueue )->ucQueueType;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
@@ -1283,7 +1349,7 @@ static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
 }
 /*-----------------------------------------------------------*/
 
-static void prvUnlockQueue( xQueueHandle pxQueue )
+static void prvUnlockQueue( xQUEUE *pxQueue )
 {
 	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
 
@@ -1298,23 +1364,58 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 		{
 			/* Data was posted while the queue was locked.  Are any tasks
 			blocked waiting for data to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+			#if ( configUSE_QUEUE_SETS == 1 )
+			{
+				if( pxQueue->pxQueueSetContainer != NULL )
+				{
+					if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
+					{
+						/* The queue is a member of a queue set, and posting to
+						the queue set caused a higher priority task to unblock.
+						A context switch is required. */
+						vTaskMissedYield();
+					}
+				}
+				else
+				{
+					/* Tasks that are removed from the event list will get added to
+					the pending ready list as the scheduler is still suspended. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							vTaskMissedYield();
+						}
+					}
+					else
+					{
+						break;
+					}
+				}
+			}
+			#else /* configUSE_QUEUE_SETS */
 			{
 				/* Tasks that are removed from the event list will get added to
 				the pending ready list as the scheduler is still suspended. */
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 				{
-					/* The task waiting has a higher priority so record that a
-					context	switch is required. */
-					vTaskMissedYield();
+					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The task waiting has a higher priority so record that a
+						context	switch is required. */
+						vTaskMissedYield();
+					}
 				}
+				else
+				{
+					break;
+				}
+			}
+			#endif /* configUSE_QUEUE_SETS */
 
-				--( pxQueue->xTxLock );
-			}
-			else
-			{
-				break;
-			}
+			--( pxQueue->xTxLock );
 		}
 
 		pxQueue->xTxLock = queueUNLOCKED;
@@ -1347,158 +1448,279 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 }
 /*-----------------------------------------------------------*/
 
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue )
 {
 signed portBASE_TYPE xReturn;
 
 	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	configASSERT( pxQueue );
-	xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	configASSERT( pxQueue );
-	xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
-
-	/* If the queue is already full we may have to block.  A critical section
-	is required to prevent an interrupt removing something from the queue
-	between the check to see if the queue is full and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
 	{
-		if( prvIsQueueFull( pxQueue ) != pdFALSE )
+		if( pxQueue->uxMessagesWaiting == 0 )
 		{
-			/* The queue is full - do we want to block or just leave without
-			posting? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is called from a coroutine we cannot block directly, but
-				return indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
-			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
-			}
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
-
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-		{
-			/* There is room in the queue, copy the data into the queue. */
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for data to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					/* The co-routine waiting has a higher priority so record
-					that a yield might be appropriate. */
-					xReturn = errQUEUE_YIELD;
-				}
-			}
+			xReturn = pdTRUE;
 		}
 		else
 		{
-			xReturn = errQUEUE_FULL;
+			xReturn = pdFALSE;
 		}
 	}
-	portENABLE_INTERRUPTS();
+	taskEXIT_CRITICAL();
 
 	return xReturn;
 }
-#endif
 /*-----------------------------------------------------------*/
 
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )
 {
 signed portBASE_TYPE xReturn;
 
-	/* If the queue is already empty we may have to block.  A critical section
-	is required to prevent an interrupt adding something to the queue
-	between the check to see if the queue is empty and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == 0 )
 	{
-		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )
+{
+signed portBASE_TYPE xReturn;
+
+	taskENTER_CRITICAL();
+	{
+		if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
 		{
-			/* There are no messages in the queue, do we want to block or just
-			leave with nothing? */
-			if( xTicksToWait > ( portTickType ) 0 )
+			xReturn = pdTRUE;
+		}
+		else
+		{
+			xReturn = pdFALSE;
+		}
+	}
+	taskEXIT_CRITICAL();
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )
+{
+signed portBASE_TYPE xReturn;
+
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )
+	{
+	signed portBASE_TYPE xReturn;
+	xQUEUE *pxQueue;
+
+		pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already full we may have to block.  A critical section
+		is required to prevent an interrupt removing something from the queue
+		between the check to see if the queue is full and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
+		{
+			if( prvIsQueueFull( pxQueue ) != pdFALSE )
 			{
-				/* As this is a co-routine we cannot block directly, but return
-				indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
+				/* The queue is full - do we want to block or just leave without
+				posting? */
+				if( xTicksToWait > ( portTickType ) 0 )
+				{
+					/* As this is called from a coroutine we cannot block directly, but
+					return indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
+				}
+			}
+		}
+		portENABLE_INTERRUPTS();
+
+		portDISABLE_INTERRUPTS();
+		{
+			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+			{
+				/* There is room in the queue, copy the data into the queue. */
+				prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+				xReturn = pdPASS;
+
+				/* Were any co-routines waiting for data to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				{
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The co-routine waiting has a higher priority so record
+						that a yield might be appropriate. */
+						xReturn = errQUEUE_YIELD;
+					}
+				}
 			}
 			else
 			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
+				xReturn = errQUEUE_FULL;
 			}
 		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
 	}
-	portENABLE_INTERRUPTS();
 
-	portNOP();
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
 
-	portDISABLE_INTERRUPTS();
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )
 	{
+	signed portBASE_TYPE xReturn;
+	xQUEUE *pxQueue;
+
+		pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already empty we may have to block.  A critical section
+		is required to prevent an interrupt adding something to the queue
+		between the check to see if the queue is empty and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
+		{
+			if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
+			{
+				/* There are no messages in the queue, do we want to block or just
+				leave with nothing? */
+				if( xTicksToWait > ( portTickType ) 0 )
+				{
+					/* As this is a co-routine we cannot block directly, but return
+					indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
+				}
+			}
+		}
+		portENABLE_INTERRUPTS();
+
+		portDISABLE_INTERRUPTS();
+		{
+			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+			{
+				/* Data is available from the queue. */
+				pxQueue->pcReadFrom += pxQueue->uxItemSize;
+				if( pxQueue->pcReadFrom >= pxQueue->pcTail )
+				{
+					pxQueue->pcReadFrom = pxQueue->pcHead;
+				}
+				--( pxQueue->uxMessagesWaiting );
+				memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+
+				xReturn = pdPASS;
+
+				/* Were any co-routines waiting for space to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+				{
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						xReturn = errQUEUE_YIELD;
+					}
+				}
+			}
+			else
+			{
+				xReturn = pdFAIL;
+			}
+		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
+	{
+	xQUEUE *pxQueue;
+
+		pxQueue = ( xQUEUE * ) xQueue;
+
+		/* Cannot block within an ISR so if there is no space on the queue then
+		exit without doing anything. */
+		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+		{
+			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+
+			/* We only want to wake one co-routine per ISR, so check that a
+			co-routine has not already been woken. */
+			if( xCoRoutinePreviouslyWoken == pdFALSE )
+			{
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				{
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						return pdTRUE;
+					}
+				}
+			}
+		}
+
+		return xCoRoutinePreviouslyWoken;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
+	{
+	signed portBASE_TYPE xReturn;
+	xQUEUE * pxQueue;
+
+		pxQueue = ( xQUEUE * ) xQueue;
+
+		/* We cannot block from an ISR, so check there is data available. If
+		not then just leave without doing anything. */
 		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 		{
-			/* Data is available from the queue. */
+			/* Copy the data from the queue. */
 			pxQueue->pcReadFrom += pxQueue->uxItemSize;
 			if( pxQueue->pcReadFrom >= pxQueue->pcTail )
 			{
@@ -1507,105 +1729,31 @@ signed portBASE_TYPE xReturn;
 			--( pxQueue->uxMessagesWaiting );
 			memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
 
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for space to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+			if( ( *pxCoRoutineWoken ) == pdFALSE )
 			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 				{
-					xReturn = errQUEUE_YIELD;
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						*pxCoRoutineWoken = pdTRUE;
+					}
 				}
 			}
+
+			xReturn = pdPASS;
 		}
 		else
 		{
 			xReturn = pdFAIL;
 		}
-	}
-	portENABLE_INTERRUPTS();
 
-	return xReturn;
-}
-#endif
+		return xReturn;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
-
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
-{
-	/* Cannot block within an ISR so if there is no space on the queue then
-	exit without doing anything. */
-	if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-	{
-		prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-
-		/* We only want to wake one co-routine per ISR, so check that a
-		co-routine has not already been woken. */
-		if( xCoRoutinePreviouslyWoken == pdFALSE )
-		{
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					return pdTRUE;
-				}
-			}
-		}
-	}
-
-	return xCoRoutinePreviouslyWoken;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
-{
-signed portBASE_TYPE xReturn;
-
-	/* We cannot block from an ISR, so check there is data available. If
-	not then just leave without doing anything. */
-	if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-	{
-		/* Copy the data from the queue. */
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
-		}
-		--( pxQueue->uxMessagesWaiting );
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
-		if( ( *pxCoRoutineWoken ) == pdFALSE )
-		{
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					*pxCoRoutineWoken = pdTRUE;
-				}
-			}
-		}
-
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = pdFAIL;
-	}
-
-	return xReturn;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
 	{
@@ -1625,12 +1773,12 @@ signed portBASE_TYPE xReturn;
 		}
 	}
 
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	static void vQueueUnregisterQueue( xQueueHandle xQueue )
+	static void prvQueueUnregisterQueue( xQueueHandle xQueue )
 	{
 	unsigned portBASE_TYPE ux;
 
@@ -1648,13 +1796,17 @@ signed portBASE_TYPE xReturn;
 
 	}
 
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
-#if configUSE_TIMERS == 1
+#if ( configUSE_TIMERS == 1 )
 
-	void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait )
+	void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )
 	{
+	xQUEUE *pxQueue;
+
+		pxQueue = ( xQUEUE * ) xQueue;
+
 		/* This function should not be called by application code hence the
 		'Restricted' in its name.  It is not part of the public API.  It is
 		designed for use by kernel code, and has special calling requirements.
@@ -1678,5 +1830,140 @@ signed portBASE_TYPE xReturn;
 		prvUnlockQueue( pxQueue );
 	}
 
-#endif
+#endif /* configUSE_TIMERS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
+	{
+	xQueueSetHandle pxQueue;
+
+		pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );
+
+		return pxQueue;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+
+		if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
+		{
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+	xQUEUE *pxQueueOrSemaphore;
+
+		pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;
+
+		if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
+		{
+			/* The queue was not a member of the set. */
+			xReturn = pdFAIL;
+		}
+		else if( pxQueueOrSemaphore->uxMessagesWaiting != 0 )
+		{
+			/* It is dangerous to remove a queue from a set when the queue is
+			not empty because the queue set will still hold pending events for
+			the queue. */
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				/* The queue is no longer contained in the set. */
+				pxQueueOrSemaphore->pxQueueSetContainer = NULL;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE );
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL );
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	static portBASE_TYPE prvNotifyQueueSetContainer( xQUEUE *pxQueue, portBASE_TYPE xCopyPosition )
+	{
+	xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
+	portBASE_TYPE xReturn = pdFALSE;
+
+		configASSERT( pxQueueSetContainer );
+		configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
+
+		if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
+		{
+			traceQUEUE_SEND( pxQueueSetContainer );
+			/* The data copies is the handle of the queue that contains data. */
+			prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+			if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
+			{
+				if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
+				{
+					/* The task waiting has a higher priority */
+					xReturn = pdTRUE;
+				}
+			}
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt
new file mode 100644
index 000000000..58480c56b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt
@@ -0,0 +1,17 @@
+Each real time kernel port consists of three files that contain the core kernel
+components and are common to every port, and one or more files that are 
+specific to a particular microcontroller and or compiler.
+
++ The FreeRTOS/Source directory contains the three files that are common to 
+every port - list.c, queue.c and tasks.c.  The kernel is contained within these 
+three files.  croutine.c implements the optional co-routine functionality - which
+is normally only used on very memory limited systems.
+
++ The FreeRTOS/Source/Portable directory contains the files that are specific to 
+a particular microcontroller and or compiler.
+
++ The FreeRTOS/Source/include directory contains the real time kernel header 
+files.
+
+See the readme file in the FreeRTOS/Source/Portable directory for more 
+information.
\ No newline at end of file
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
old mode 100755
new mode 100644
index 8bc546e0d..0aab3273e
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,44 +29,50 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
-
+/* Standard includes. */
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -74,6 +82,7 @@ all the API functions to use the MPU wrappers.  That should only be done when
 task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+/* FreeRTOS includes. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "timers.h"
@@ -81,40 +90,48 @@ task.h is included from an application file. */
 
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+/* Sanity check the configuration. */
+#if configUSE_TICKLESS_IDLE != 0
+	#if INCLUDE_vTaskSuspend != 1
+		#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
+	#endif /* INCLUDE_vTaskSuspend */
+#endif /* configUSE_TICKLESS_IDLE */
+
 /*
- * Macro to define the amount of stack available to the idle task.
+ * Defines the size, in words, of the stack allocated to the idle task.
  */
 #define tskIDLE_STACK_SIZE	configMINIMAL_STACK_SIZE
 
 /*
- * Task control block.  A task control block (TCB) is allocated to each task,
- * and stores the context of the task.
+ * Task control block.  A task control block (TCB) is allocated for each task,
+ * and stores task state information, including a pointer to the task's context
+ * (the task's run time environment, including register values)
  */
 typedef struct tskTaskControlBlock
 {
-	volatile portSTACK_TYPE	*pxTopOfStack;		/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
+	volatile portSTACK_TYPE	*pxTopOfStack;		/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
 
 	#if ( portUSING_MPU_WRAPPERS == 1 )
-		xMPU_SETTINGS xMPUSettings;				/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
-	#endif	
-	
-	xListItem				xGenericListItem;	/*< List item used to place the TCB in ready and blocked queues. */
-	xListItem				xEventListItem;		/*< List item used to place the TCB in event lists. */
-	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task where 0 is the lowest priority. */
+		xMPU_SETTINGS xMPUSettings;				/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
+	#endif
+
+	xListItem				xGenericListItem;		/*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
+	xListItem				xEventListItem;		/*< Used to reference a task from an event list. */
+	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task.  0 is the lowest priority. */
 	portSTACK_TYPE			*pxStack;			/*< Points to the start of the stack. */
 	signed char				pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */
 
 	#if ( portSTACK_GROWTH > 0 )
-		portSTACK_TYPE *pxEndOfStack;			/*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
+		portSTACK_TYPE *pxEndOfStack;			/*< Points to the end of the stack on architectures where the stack grows up from low memory. */
 	#endif
 
 	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-		unsigned portBASE_TYPE uxCriticalNesting;
+		unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
 	#endif
 
 	#if ( configUSE_TRACE_FACILITY == 1 )
-		unsigned portBASE_TYPE	uxTCBNumber;	/*< This stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
-		unsigned portBASE_TYPE  uxTaskNumber;	/*< This stores a number specifically for use by third party trace code. */
+		unsigned portBASE_TYPE	uxTCBNumber;	/*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
+		unsigned portBASE_TYPE  uxTaskNumber;	/*< Stores a number specifically for use by third party trace code. */
 	#endif
 
 	#if ( configUSE_MUTEXES == 1 )
@@ -126,15 +143,15 @@ typedef struct tskTaskControlBlock
 	#endif
 
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-		unsigned long ulRunTimeCounter;		/*< Used for calculating how much CPU time each task is utilising. */
+		unsigned long ulRunTimeCounter;			/*< Stores the amount of time the task has spent in the Running state. */
 	#endif
 
 } tskTCB;
 
 
 /*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
+ * Some kernel aware debuggers require the data the debugger needs access to to
+ * be global, rather than file scope.
  */
 #ifdef portREMOVE_STATIC_QUALIFIER
 	#define static
@@ -144,7 +161,6 @@ typedef struct tskTaskControlBlock
 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
 
 /* Lists for ready and blocked tasks. --------------------*/
-
 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ];	/*< Prioritised ready tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList1;							/*< Delayed tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList2;							/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
@@ -166,9 +182,9 @@ PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been r
 #endif
 
 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
-	
-	PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
-	
+
+	PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;			/*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */
+
 #endif
 
 /* File private variables. --------------------------------*/
@@ -182,13 +198,14 @@ PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks 			= ( unsi
 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield 						= ( portBASE_TYPE ) pdFALSE;
 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows 					= ( portBASE_TYPE ) 0;
 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0U;
-PRIVILEGED_DATA static portTickType xNextTaskUnblockTime						= ( portTickType ) portMAX_DELAY;
+PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= ( portTickType ) portMAX_DELAY;
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
 	PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
 	PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;	/*< Holds the value of a timer/counter the last time a task was switched in. */
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
+	PRIVILEGED_DATA static unsigned long ulTotalRunTime;				/*< Holds the total amount of execution time as defined by the run time counter clock. */
+	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -210,6 +227,82 @@ PRIVILEGED_DATA static portTickType xNextTaskUnblockTime						= ( portTickType )
 
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
+
+	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
+	performed in a generic way that is not optimised to any particular
+	microcontroller architecture. */
+
+	/* uxTopReadyPriority holds the priority of the highest priority ready
+	state task. */
+	#define taskRECORD_READY_PRIORITY( uxPriority )																		\
+	{																													\
+		if( ( uxPriority ) > uxTopReadyPriority )																		\
+		{																												\
+			uxTopReadyPriority = ( uxPriority );																		\
+		}																												\
+	} /* taskRECORD_READY_PRIORITY */
+
+	/*-----------------------------------------------------------*/
+
+	#define taskSELECT_HIGHEST_PRIORITY_TASK()																			\
+	{																													\
+		/* Find the highest priority queue that contains ready tasks. */												\
+		while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )										\
+		{																												\
+			configASSERT( uxTopReadyPriority );																			\
+			--uxTopReadyPriority;																						\
+		}																												\
+																														\
+		/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of										\
+		the	same priority get an equal share of the processor time. */													\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );						\
+	} /* taskSELECT_HIGHEST_PRIORITY_TASK */
+
+	/*-----------------------------------------------------------*/
+
+	/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
+	they are only required when a port optimised method of task selection is
+	being used. */
+	#define taskRESET_READY_PRIORITY( uxPriority )
+	#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
+	performed in a way that is tailored to the particular microcontroller
+	architecture being used. */
+
+	/* A port optimised version is provided.  Call the port defined macros. */
+	#define taskRECORD_READY_PRIORITY( uxPriority )	portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+	/*-----------------------------------------------------------*/
+
+	#define taskSELECT_HIGHEST_PRIORITY_TASK()														\
+	{																								\
+	unsigned portBASE_TYPE uxTopPriority;															\
+																									\
+		/* Find the highest priority queue that contains ready tasks. */							\
+		portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );								\
+		configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );		\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );		\
+	} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
+
+	/*-----------------------------------------------------------*/
+
+	/* A port optimised version is provided, call it only if the TCB being reset
+	is being referenced from a ready list.  If it is referenced from a delayed
+	or suspended list then it won't be in a ready list. */
+	#define taskRESET_READY_PRIORITY( uxPriority )													\
+	{																								\
+		if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 )				\
+		{																							\
+			portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );						\
+		}																							\
+	}
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
 /*
  * Place the task represented by pxTCB into the appropriate ready queue for
  * the task.  It is inserted at the end of the list.  One quirk of this is
@@ -217,12 +310,9 @@ PRIVILEGED_DATA static portTickType xNextTaskUnblockTime						= ( portTickType )
  * executing task, then it will only be rescheduled after the currently
  * executing task has been rescheduled.
  */
-#define prvAddTaskToReadyQueue( pxTCB )																					\
-	traceMOVED_TASK_TO_READY_STATE( pxTCB )																				\
-	if( ( pxTCB )->uxPriority > uxTopReadyPriority )																	\
-	{																													\
-		uxTopReadyPriority = ( pxTCB )->uxPriority;																		\
-	}																													\
+#define prvAddTaskToReadyQueue( pxTCB )																				\
+	traceMOVED_TASK_TO_READY_STATE( pxTCB )																			\
+	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );																\
 	vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
 /*-----------------------------------------------------------*/
 
@@ -273,12 +363,12 @@ portTickType xItemValue;																\
 				}																		\
 																						\
 				/* It is time to remove the item from the Blocked state. */				\
-				vListRemove( &( pxTCB->xGenericListItem ) );							\
+				uxListRemove( &( pxTCB->xGenericListItem ) );							\
 																						\
 				/* Is the task waiting on an event also? */								\
 				if( pxTCB->xEventListItem.pvContainer != NULL )							\
 				{																		\
-					vListRemove( &( pxTCB->xEventListItem ) );							\
+					uxListRemove( &( pxTCB->xEventListItem ) );							\
 				}																		\
 				prvAddTaskToReadyQueue( pxTCB );										\
 			}																			\
@@ -296,9 +386,9 @@ portTickType xItemValue;																\
 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
 
 /* Callback function prototypes. --------------------------*/
-extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
+extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
 extern void vApplicationTickHook( void );
-		
+
 /* File private functions. --------------------------------*/
 
 /*
@@ -384,15 +474,23 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
 
 #endif
 
+/*
+ * Return the amount of time, in ticks, that will pass before the kernel will
+ * next move a task from the Blocked state to the Running state.
+ *
+ * This conditional compilation should use inequality to 0, not equality to 1.
+ * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
+ * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
+ * set to a value other than 1.
+ */
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+	static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
+
+#endif
 
 /*lint +e956 */
 
-
-
-/*-----------------------------------------------------------
- * TASK CREATION API documented in task.h
- *----------------------------------------------------------*/
-
 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
 {
 signed portBASE_TYPE xReturn;
@@ -435,10 +533,10 @@ tskTCB * pxNewTCB;
 			/* Check the alignment of the calculated top of stack is correct. */
 			configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 		}
-		#else
+		#else /* portSTACK_GROWTH */
 		{
 			pxTopOfStack = pxNewTCB->pxStack;
-			
+
 			/* Check the alignment of the stack buffer is correct. */
 			configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 
@@ -447,7 +545,7 @@ tskTCB * pxNewTCB;
 			other extreme of the stack space. */
 			pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
 		}
-		#endif
+		#endif /* portSTACK_GROWTH */
 
 		/* Setup the newly allocated TCB with the initial state of the task. */
 		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
@@ -460,11 +558,11 @@ tskTCB * pxNewTCB;
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
 		}
-		#else
+		#else /* portUSING_MPU_WRAPPERS */
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
 		}
-		#endif
+		#endif /* portUSING_MPU_WRAPPERS */
 
 		/* Check the alignment of the initialised stack. */
 		portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
@@ -476,7 +574,7 @@ tskTCB * pxNewTCB;
 			required.*/
 			*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
 		}
-		
+
 		/* We are going to manipulate the task queues to add this task to a
 		ready list, so must make sure no interrupts occur. */
 		taskENTER_CRITICAL();
@@ -517,19 +615,20 @@ tskTCB * pxNewTCB;
 				uxTopUsedPriority = pxNewTCB->uxPriority;
 			}
 
+			uxTaskNumber++;
+
 			#if ( configUSE_TRACE_FACILITY == 1 )
 			{
 				/* Add a counter into the TCB for tracing only. */
 				pxNewTCB->uxTCBNumber = uxTaskNumber;
 			}
-			#endif
-			uxTaskNumber++;
+			#endif /* configUSE_TRACE_FACILITY */
+			traceTASK_CREATE( pxNewTCB );
 
 			prvAddTaskToReadyQueue( pxNewTCB );
 
 			xReturn = pdPASS;
 			portSETUP_TCB( pxNewTCB );
-			traceTASK_CREATE( pxNewTCB );
 		}
 		taskEXIT_CRITICAL();
 	}
@@ -558,7 +657,7 @@ tskTCB * pxNewTCB;
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	void vTaskDelete( xTaskHandle pxTaskToDelete )
+	void vTaskDelete( xTaskHandle xTaskToDelete )
 	{
 	tskTCB *pxTCB;
 
@@ -566,24 +665,27 @@ tskTCB * pxNewTCB;
 		{
 			/* Ensure a yield is performed if the current task is being
 			deleted. */
-			if( pxTaskToDelete == pxCurrentTCB )
+			if( xTaskToDelete == pxCurrentTCB )
 			{
-				pxTaskToDelete = NULL;
+				xTaskToDelete = NULL;
 			}
 
 			/* If null is passed in here then we are deleting ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
+			pxTCB = prvGetTCBFromHandle( xTaskToDelete );
 
 			/* Remove task from the ready list and place in the	termination list.
 			This will stop the task from be scheduled.  The idle task will check
 			the termination list and free up any memory allocated by the
 			scheduler for the TCB and stack. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
+			if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+			{
+				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+			}
 
 			/* Is the task waiting on an event also? */
 			if( pxTCB->xEventListItem.pvContainer != NULL )
 			{
-				vListRemove( &( pxTCB->xEventListItem ) );
+				uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
 			vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
@@ -604,23 +706,15 @@ tskTCB * pxNewTCB;
 		/* Force a reschedule if we have just deleted the current task. */
 		if( xSchedulerRunning != pdFALSE )
 		{
-			if( ( void * ) pxTaskToDelete == NULL )
+			if( ( void * ) xTaskToDelete == NULL )
 			{
 				portYIELD_WITHIN_API();
 			}
 		}
 	}
 
-#endif
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API documented in task.h
- *----------------------------------------------------------*/
+#endif /* INCLUDE_vTaskDelete */
+/*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelayUntil == 1 )
 
@@ -670,7 +764,14 @@ tskTCB * pxNewTCB;
 				/* We must remove ourselves from the ready list before adding
 				ourselves to the blocked list as the same list item is used for
 				both lists. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+				if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+				{
+					/* The current task must be in a ready list, so there is
+					no need to check, and the port reset macro can be called
+					directly. */
+					portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+				}
+
 				prvAddCurrentTaskToDelayedList( xTimeToWake );
 			}
 		}
@@ -684,7 +785,7 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelayUntil */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelay == 1 )
@@ -716,7 +817,13 @@ tskTCB * pxNewTCB;
 				/* We must remove ourselves from the ready list before adding
 				ourselves to the blocked list as the same list item is used for
 				both lists. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+				if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+				{
+					/* The current task must be in a ready list, so there is
+					no need to check, and the port reset macro can be called
+					directly. */
+					portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+				}
 				prvAddCurrentTaskToDelayedList( xTimeToWake );
 			}
 			xAlreadyYielded = xTaskResumeAll();
@@ -730,12 +837,74 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelay */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_eTaskGetState == 1 )
+
+	eTaskState eTaskGetState( xTaskHandle xTask )
+	{
+	eTaskState eReturn;
+	xList *pxStateList;
+	tskTCB *pxTCB;
+
+		pxTCB = ( tskTCB * ) xTask;
+
+		if( pxTCB == pxCurrentTCB )
+		{
+			/* The task calling this function is querying its own state. */
+			eReturn = eRunning;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
+			}
+			taskEXIT_CRITICAL();
+
+			if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
+			{
+				/* The task being queried is referenced from one of the Blocked
+				lists. */
+				eReturn = eBlocked;
+			}
+
+			#if ( INCLUDE_vTaskSuspend == 1 )
+				else if( pxStateList == &xSuspendedTaskList )
+				{
+					/* The task being queried is referenced from the suspended
+					list. */
+					eReturn = eSuspended;
+				}
+			#endif
+
+			#if ( INCLUDE_vTaskDelete == 1 )
+				else if( pxStateList == &xTasksWaitingTermination )
+				{
+					/* The task being queried is referenced from the deleted
+					tasks list. */
+					eReturn = eDeleted;
+				}
+			#endif
+
+			else
+			{
+				/* If the task is not in any other state, it must be in the
+				Ready (including pending ready) state. */
+				eReturn = eReady;
+			}
+		}
+
+		return eReturn;
+	}
+
+#endif /* INCLUDE_eTaskGetState */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskPriorityGet == 1 )
 
-	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
+	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
 	{
 	tskTCB *pxTCB;
 	unsigned portBASE_TYPE uxReturn;
@@ -744,7 +913,7 @@ tskTCB * pxNewTCB;
 		{
 			/* If null is passed in here then we are changing the
 			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
+			pxTCB = prvGetTCBFromHandle( xTask );
 			uxReturn = pxTCB->uxPriority;
 		}
 		taskEXIT_CRITICAL();
@@ -752,15 +921,15 @@ tskTCB * pxNewTCB;
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskPriorityGet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskPrioritySet == 1 )
 
-	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
+	void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
 	{
 	tskTCB *pxTCB;
-	unsigned portBASE_TYPE uxCurrentPriority;
+	unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
 	portBASE_TYPE xYieldRequired = pdFALSE;
 
 		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
@@ -773,14 +942,14 @@ tskTCB * pxNewTCB;
 
 		taskENTER_CRITICAL();
 		{
-			if( pxTask == pxCurrentTCB )
+			if( xTask == ( xTaskHandle ) pxCurrentTCB )
 			{
-				pxTask = NULL;
+				xTask = NULL;
 			}
 
 			/* If null is passed in here then we are changing the
 			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
+			pxTCB = prvGetTCBFromHandle( xTask );
 
 			traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
 
@@ -800,7 +969,7 @@ tskTCB * pxNewTCB;
 				priority than the calling task. */
 				if( uxNewPriority > uxCurrentPriority )
 				{
-					if( pxTask != NULL )
+					if( xTask != NULL )
 					{
 						/* The priority of another task is being raised.  If we
 						were raising the priority of the currently running task
@@ -809,14 +978,17 @@ tskTCB * pxNewTCB;
 						xYieldRequired = pdTRUE;
 					}
 				}
-				else if( pxTask == NULL )
+				else if( xTask == NULL )
 				{
 					/* Setting our own priority down means there may now be another
 					task of higher priority that is ready to execute. */
 					xYieldRequired = pdTRUE;
 				}
 
-
+				/* Remember the ready list the task might be referenced from
+				before its uxPriority member is changed so the
+				taskRESET_READY_PRIORITY() macro can function correctly. */
+				uxPriorityUsedOnEntry = pxTCB->uxPriority;
 
 				#if ( configUSE_MUTEXES == 1 )
 				{
@@ -847,7 +1019,10 @@ tskTCB * pxNewTCB;
 					/* The task is currently in its ready list - remove before adding
 					it to it's new ready list.  As we are in a critical section we
 					can do this even if the scheduler is suspended. */
-					vListRemove( &( pxTCB->xGenericListItem ) );
+					if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+					{
+						taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
+					}
 					prvAddTaskToReadyQueue( pxTCB );
 				}
 
@@ -858,14 +1033,18 @@ tskTCB * pxNewTCB;
 			}
 		}
 		taskEXIT_CRITICAL();
+
+		/* Remove compiler warning about unused parameter when the port
+		optimised task selection is not being used. */
+		( void ) uxPriorityUsedOnEntry;
 	}
 
-#endif
+#endif /* INCLUDE_vTaskPrioritySet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
+	void vTaskSuspend( xTaskHandle xTaskToSuspend )
 	{
 	tskTCB *pxTCB;
 
@@ -873,30 +1052,33 @@ tskTCB * pxNewTCB;
 		{
 			/* Ensure a yield is performed if the current task is being
 			suspended. */
-			if( pxTaskToSuspend == pxCurrentTCB )
+			if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
 			{
-				pxTaskToSuspend = NULL;
+				xTaskToSuspend = NULL;
 			}
 
 			/* If null is passed in here then we are suspending ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
+			pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
 
 			traceTASK_SUSPEND( pxTCB );
 
 			/* Remove task from the ready/delayed list and place in the	suspended list. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
+			if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+			{
+				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+			}
 
 			/* Is the task waiting on an event also? */
 			if( pxTCB->xEventListItem.pvContainer != NULL )
 			{
-				vListRemove( &( pxTCB->xEventListItem ) );
+				uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
 			vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
 		}
 		taskEXIT_CRITICAL();
 
-		if( ( void * ) pxTaskToSuspend == NULL )
+		if( ( void * ) xTaskToSuspend == NULL )
 		{
 			if( xSchedulerRunning != pdFALSE )
 			{
@@ -924,7 +1106,7 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
@@ -958,21 +1140,21 @@ tskTCB * pxNewTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskResume( xTaskHandle pxTaskToResume )
+	void vTaskResume( xTaskHandle xTaskToResume )
 	{
 	tskTCB *pxTCB;
 
 		/* It does not make sense to resume the calling task. */
-		configASSERT( pxTaskToResume );
+		configASSERT( xTaskToResume );
 
 		/* Remove the task from whichever list it is currently in, and place
 		it in the ready list. */
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+		pxTCB = ( tskTCB * ) xTaskToResume;
 
 		/* The parameter cannot be NULL as it is impossible to resume the
 		currently executing task. */
@@ -986,7 +1168,7 @@ tskTCB * pxNewTCB;
 
 					/* As we are in a critical section we can access the ready
 					lists even if the scheduler is suspended. */
-					vListRemove(  &( pxTCB->xGenericListItem ) );
+					uxListRemove(  &( pxTCB->xGenericListItem ) );
 					prvAddTaskToReadyQueue( pxTCB );
 
 					/* We may have just resumed a higher priority task. */
@@ -1002,21 +1184,21 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
+	portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
 	{
 	portBASE_TYPE xYieldRequired = pdFALSE;
 	tskTCB *pxTCB;
 	unsigned portBASE_TYPE uxSavedInterruptStatus;
 
-		configASSERT( pxTaskToResume );
+		configASSERT( xTaskToResume );
 
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+		pxTCB = ( tskTCB * ) xTaskToResume;
 
 		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 		{
@@ -1027,7 +1209,7 @@ tskTCB * pxNewTCB;
 				if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 				{
 					xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
-					vListRemove(  &( pxTCB->xGenericListItem ) );
+					uxListRemove(  &( pxTCB->xGenericListItem ) );
 					prvAddTaskToReadyQueue( pxTCB );
 				}
 				else
@@ -1044,15 +1226,8 @@ tskTCB * pxNewTCB;
 		return xYieldRequired;
 	}
 
-#endif
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC SCHEDULER CONTROL documented in task.h
- *----------------------------------------------------------*/
-
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
+/*-----------------------------------------------------------*/
 
 void vTaskStartScheduler( void )
 {
@@ -1070,7 +1245,7 @@ portBASE_TYPE xReturn;
 		/* Create the idle task without storing its handle. */
 		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
 	}
-	#endif
+	#endif /* INCLUDE_xTaskGetIdleTaskHandle */
 
 	#if ( configUSE_TIMERS == 1 )
 	{
@@ -1079,7 +1254,7 @@ portBASE_TYPE xReturn;
 			xReturn = xTimerCreateTimerTask();
 		}
 	}
-	#endif
+	#endif /* configUSE_TIMERS */
 
 	if( xReturn == pdPASS )
 	{
@@ -1100,7 +1275,7 @@ portBASE_TYPE xReturn;
 		macro must be defined to configure the timer/counter used to generate
 		the run time counter time base. */
 		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
-		
+
 		/* Setting up the timer tick is hardware specific and thus in the
 		portable interface. */
 		if( xPortStartScheduler() != pdFALSE )
@@ -1113,9 +1288,13 @@ portBASE_TYPE xReturn;
 			/* Should only reach here if a task calls xTaskEndScheduler(). */
 		}
 	}
-
-	/* This line will only be reached if the kernel could not be started. */
-	configASSERT( xReturn );
+	else
+	{
+		/* This line will only be reached if the kernel could not be started,
+		because there was not enough FreeRTOS heap to create the idle task
+		or the timer task. */
+		configASSERT( xReturn );
+	}
 }
 /*-----------------------------------------------------------*/
 
@@ -1138,6 +1317,34 @@ void vTaskSuspendAll( void )
 }
 /*----------------------------------------------------------*/
 
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+	static portTickType prvGetExpectedIdleTime( void )
+	{
+	portTickType xReturn;
+
+		if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
+		{
+			xReturn = 0;
+		}
+		else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
+		{
+			/* There are other idle priority tasks in the ready state.  If
+			time slicing is used then the very next tick interrupt must be
+			processed. */
+			xReturn = 0;
+		}
+		else
+		{
+			xReturn = xNextTaskUnblockTime - xTickCount;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
+
 signed portBASE_TYPE xTaskResumeAll( void )
 {
 register tskTCB *pxTCB;
@@ -1167,8 +1374,8 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 				while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
 				{
 					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) );
-					vListRemove( &( pxTCB->xEventListItem ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
+					uxListRemove( &( pxTCB->xEventListItem ) );
+					uxListRemove( &( pxTCB->xGenericListItem ) );
 					prvAddTaskToReadyQueue( pxTCB );
 
 					/* If we have moved a task that has a priority higher than
@@ -1213,17 +1420,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 
 	return xAlreadyYielded;
 }
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC TASK UTILITIES documented in task.h
- *----------------------------------------------------------*/
-
-
+/*-----------------------------------------------------------*/
 
 portTickType xTaskGetTickCount( void )
 {
@@ -1273,7 +1470,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		return &( pxTCB->pcTaskName[ 0 ] );
 	}
 
-#endif
+#endif /* INCLUDE_pcTaskGetTaskName */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
@@ -1336,7 +1533,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		xTaskResumeAll();
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*----------------------------------------------------------*/
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
@@ -1344,7 +1541,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
 	{
 	unsigned portBASE_TYPE uxQueue;
-	unsigned long ulTotalRunTime;
+	unsigned long ulTotalRunTimeDiv100;
 
 		/* This is a VERY costly function that should be used for debug only.
 		It leaves interrupts disabled for a LONG time. */
@@ -1359,8 +1556,8 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 
 			/* Divide ulTotalRunTime by 100 to make the percentage caluclations
 			simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
-			ulTotalRunTime /= 100UL;
-			
+			ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
+
 			/* Run through all the lists that could potentially contain a TCB,
 			generating a table of run timer percentages in the provided
 			buffer. */
@@ -1376,25 +1573,25 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 
 				if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
 				}
 			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
 
 			if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
 			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
+				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
 			}
 
 			if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
 			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
+				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
 			}
 
 			#if ( INCLUDE_vTaskDelete == 1 )
 			{
 				if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
 				}
 			}
 			#endif
@@ -1403,7 +1600,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 			{
 				if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
 				}
 			}
 			#endif
@@ -1411,9 +1608,26 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		xTaskResumeAll();
 	}
 
+#endif /* configGENERATE_RUN_TIME_STATS */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetRunTime == 1 )
+
+    unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
+    {
+        unsigned long runTime;
+
+        tskTCB *pxTCB;
+        pxTCB = prvGetTCBFromHandle( xTask );
+        runTime = pxTCB->ulRunTimeCounter;
+        pxTCB->ulRunTimeCounter = 0;
+        return runTime;
+    }
+
 #endif
 /*----------------------------------------------------------*/
 
+
 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
 
 	xTaskHandle xTaskGetIdleTaskHandle( void )
@@ -1423,13 +1637,24 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		configASSERT( ( xIdleTaskHandle != NULL ) );
 		return xIdleTaskHandle;
 	}
-	
-#endif
 
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- * documented in task.h
- *----------------------------------------------------------*/
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */
+/*----------------------------------------------------------*/
+
+/* This conditional compilation should use inequality to 0, not equality to 1.
+This is to ensure vTaskStepTick() is available when user defined low power mode
+implementations require configUSE_TICKLESS_IDLE to be set to a value other than
+1. */
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+	void vTaskStepTick( portTickType xTicksToJump )
+	{
+		configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
+		xTickCount += xTicksToJump;
+	}
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
 
 void vTaskIncrementTick( void )
 {
@@ -1438,6 +1663,7 @@ tskTCB * pxTCB;
 	/* Called by the portable layer each time a tick interrupt occurs.
 	Increments the tick then checks to see if the new tick value will cause any
 	tasks to be unblocked. */
+	traceTASK_INCREMENT_TICK( xTickCount );
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
 		++xTickCount;
@@ -1449,17 +1675,17 @@ tskTCB * pxTCB;
 			If there are any items in pxDelayedTaskList here then there is
 			an error! */
 			configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
-			
+
 			pxTemp = pxDelayedTaskList;
 			pxDelayedTaskList = pxOverflowDelayedTaskList;
 			pxOverflowDelayedTaskList = pxTemp;
 			xNumOfOverflows++;
-	
+
 			if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
 			{
 				/* The new current delayed list is empty.  Set
 				xNextTaskUnblockTime to the maximum possible value so it is
-				extremely unlikely that the	
+				extremely unlikely that the
 				if( xTickCount >= xNextTaskUnblockTime ) test will pass until
 				there is an item in the delayed list. */
 				xNextTaskUnblockTime = portMAX_DELAY;
@@ -1500,9 +1726,7 @@ tskTCB * pxTCB;
 			vApplicationTickHook();
 		}
 	}
-	#endif
-
-	traceTASK_INCREMENT_TICK( xTickCount );
+	#endif /* configUSE_TICK_HOOK */
 }
 /*-----------------------------------------------------------*/
 
@@ -1529,7 +1753,7 @@ tskTCB * pxTCB;
 		taskEXIT_CRITICAL();
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1558,7 +1782,7 @@ tskTCB * pxTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1590,7 +1814,7 @@ tskTCB * pxTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 void vTaskSwitchContext( void )
@@ -1604,41 +1828,30 @@ void vTaskSwitchContext( void )
 	else
 	{
 		traceTASK_SWITCHED_OUT();
-	
+
 		#if ( configGENERATE_RUN_TIME_STATS == 1 )
 		{
-			unsigned long ulTempCounter;
-			
 				#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
-					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
+					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
 				#else
-					ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+					ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
 				#endif
-	
+
 				/* Add the amount of time the task has been running to the accumulated
 				time so far.  The time the task started running was stored in
 				ulTaskSwitchedInTime.  Note that there is no overflow protection here
 				so count values are only valid until the timer overflows.  Generally
 				this will be about 1 hour assuming a 1uS timer increment. */
-				pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
-				ulTaskSwitchedInTime = ulTempCounter;
+				pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+				ulTaskSwitchedInTime = ulTotalRunTime;
 		}
-		#endif
-	
+		#endif /* configGENERATE_RUN_TIME_STATS */
+
 		taskFIRST_CHECK_FOR_STACK_OVERFLOW();
 		taskSECOND_CHECK_FOR_STACK_OVERFLOW();
-	
-		/* Find the highest priority queue that contains ready tasks. */
-		while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
-		{
-			configASSERT( uxTopReadyPriority );
-			--uxTopReadyPriority;
-		}
-	
-		/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
-		same priority get an equal share of the processor time. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
-	
+
+		taskSELECT_HIGHEST_PRIORITY_TASK();
+
 		traceTASK_SWITCHED_IN();
 	}
 }
@@ -1661,8 +1874,12 @@ portTickType xTimeToWake;
 	/* We must remove ourselves from the ready list before adding ourselves
 	to the blocked list as the same list item is used for both lists.  We have
 	exclusive access to the ready lists as the scheduler is locked. */
-	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
+	if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+	{
+		/* The current task must be in a ready list, so there is no need to
+		check, and the port reset macro can be called directly. */
+		portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+	}
 
 	#if ( INCLUDE_vTaskSuspend == 1 )
 	{
@@ -1681,14 +1898,14 @@ portTickType xTimeToWake;
 			prvAddCurrentTaskToDelayedList( xTimeToWake );
 		}
 	}
-	#else
+	#else /* INCLUDE_vTaskSuspend */
 	{
 			/* Calculate the time at which the task should be woken if the event does
 			not occur.  This may overflow but this doesn't matter. */
 			xTimeToWake = xTickCount + xTicksToWait;
 			prvAddCurrentTaskToDelayedList( xTimeToWake );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskSuspend */
 }
 /*-----------------------------------------------------------*/
 
@@ -1705,7 +1922,7 @@ portTickType xTimeToWake;
 		designed for use by kernel code, and has special calling requirements -
 		it should be called from a critical section. */
 
-	
+
 		/* Place the event list item of the TCB in the appropriate event list.
 		In this case it is assume that this is the only task that is going to
 		be waiting on this event list, so the faster vListInsertEnd() function
@@ -1715,14 +1932,21 @@ portTickType xTimeToWake;
 		/* We must remove this task from the ready list before adding it to the
 		blocked list as the same list item is used for both lists.  This
 		function is called form a critical section. */
-		vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+		if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+		{
+			/* The current task must be in a ready list, so there is no need to
+			check, and the port reset macro can be called directly. */
+			portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+		}
 
 		/* Calculate the time at which the task should be woken if the event does
 		not occur.  This may overflow but this doesn't matter. */
 		xTimeToWake = xTickCount + xTicksToWait;
+
+		traceTASK_DELAY_UNTIL();
 		prvAddCurrentTaskToDelayedList( xTimeToWake );
 	}
-	
+
 #endif /* configUSE_TIMERS */
 /*-----------------------------------------------------------*/
 
@@ -1741,16 +1965,16 @@ portBASE_TYPE xReturn;
 	If an event is for a queue that is locked then this function will never
 	get called - the lock count on the queue will get modified instead.  This
 	means we can always expect exclusive access to the event list here.
-	
+
 	This function assumes that a check has already been made to ensure that
 	pxEventList is not empty. */
 	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
 	configASSERT( pxUnblockedTCB );
-	vListRemove( &( pxUnblockedTCB->xEventListItem ) );
+	uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
 
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
-		vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
+		uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
 		prvAddTaskToReadyQueue( pxUnblockedTCB );
 	}
 	else
@@ -1838,11 +2062,12 @@ void vTaskMissedYield( void )
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
+
 	unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
 	{
 	unsigned portBASE_TYPE uxReturn;
 	tskTCB *pxTCB;
-	
+
 		if( xTask != NULL )
 		{
 			pxTCB = ( tskTCB * ) xTask;
@@ -1852,25 +2077,27 @@ void vTaskMissedYield( void )
 		{
 			uxReturn = 0U;
 		}
-		
+
 		return uxReturn;
 	}
-#endif
+
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
+
 	void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
 	{
 	tskTCB *pxTCB;
-	
+
 		if( xTask != NULL )
 		{
 			pxTCB = ( tskTCB * ) xTask;
 			pxTCB->uxTaskNumber = uxHandle;
 		}
 	}
-#endif
 
+#endif /* configUSE_TRACE_FACILITY */
 
 /*
  * -----------------------------------------------------------
@@ -1901,7 +2128,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			will automatically get the processor anyway. */
 			taskYIELD();
 		}
-		#endif
+		#endif /* configUSE_PREEMPTION */
 
 		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
 		{
@@ -1919,7 +2146,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 				taskYIELD();
 			}
 		}
-		#endif
+		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
 
 		#if ( configUSE_IDLE_HOOK == 1 )
 		{
@@ -1932,21 +2159,84 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			CALL A FUNCTION THAT MIGHT BLOCK. */
 			vApplicationIdleHook();
 		}
-		#endif
+		#endif /* configUSE_IDLE_HOOK */
+
+		/* This conditional compilation should use inequality to 0, not equality
+		to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
+		user defined low power mode	implementations require
+		configUSE_TICKLESS_IDLE to be set to a value other than 1. */
+		#if ( configUSE_TICKLESS_IDLE != 0 )
+		{
+		portTickType xExpectedIdleTime;
+			/* It is not desirable to suspend then resume the scheduler on
+			each iteration of the idle task.  Therefore, a preliminary
+			test of the expected idle time is performed without the
+			scheduler suspended.  The result here is not necessarily
+			valid. */
+			xExpectedIdleTime = prvGetExpectedIdleTime();
+
+			if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+			{
+				vTaskSuspendAll();
+				{
+					/* Now the scheduler is suspended, the expected idle
+					time can be sampled again, and this time its value can
+					be used. */
+					configASSERT( xNextTaskUnblockTime >= xTickCount );
+					xExpectedIdleTime = prvGetExpectedIdleTime();
+
+					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+					{
+						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+					}
+				}
+				xTaskResumeAll();
+			}
+		}
+		#endif /* configUSE_TICKLESS_IDLE */
 	}
 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+/*-----------------------------------------------------------*/
 
+#if configUSE_TICKLESS_IDLE != 0
 
+	eSleepModeStatus eTaskConfirmSleepModeStatus( void )
+	{
+	eSleepModeStatus eReturn = eStandardSleep;
 
+		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+		{
+			/* A task was made ready while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else if( xMissedYield != pdFALSE )
+		{
+			/* A yield was pended while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else
+		{
+			#if configUSE_TIMERS == 0
+			{
+				/* The idle task exists in addition to the application tasks. */
+				const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
 
+				/* If timers are not being used and all the tasks are in the
+				suspended list (which might mean they have an infinite block
+				time rather than actually being suspended) then it is safe to
+				turn all clocks off and just wait for external interrupts. */
+				if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
+				{
+					eReturn = eNoTasksWaitingTimeout;
+				}
+			}
+			#endif /* configUSE_TIMERS */
+		}
 
-
-
-/*-----------------------------------------------------------
- * File private functions documented at the top of the file.
- *----------------------------------------------------------*/
-
-
+		return eReturn;
+	}
+#endif /* configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
 {
@@ -1956,7 +2246,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 		/* Don't bring strncpy into the build unnecessarily. */
 		strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
 	}
-	#endif
+	#endif /* configMAX_TASK_NAME_LEN */
 	pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
 
 	/* This is used as an array index so must ensure it's not too large.  First
@@ -1971,7 +2261,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	{
 		pxTCB->uxBasePriority = uxPriority;
 	}
-	#endif
+	#endif /* configUSE_MUTEXES */
 
 	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
 	vListInitialiseItem( &( pxTCB->xEventListItem ) );
@@ -1988,30 +2278,30 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	{
 		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
 	}
-	#endif
+	#endif /* portCRITICAL_NESTING_IN_TCB */
 
 	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
 	{
 		pxTCB->pxTaskTag = NULL;
 	}
-	#endif
+	#endif /* configUSE_APPLICATION_TASK_TAG */
 
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
 	{
 		pxTCB->ulRunTimeCounter = 0UL;
 	}
-	#endif
+	#endif /* configGENERATE_RUN_TIME_STATS */
 
 	#if ( portUSING_MPU_WRAPPERS == 1 )
 	{
 		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
 	}
-	#else
+	#else /* portUSING_MPU_WRAPPERS */
 	{
 		( void ) xRegions;
 		( void ) usStackDepth;
 	}
-	#endif
+	#endif /* portUSING_MPU_WRAPPERS */
 }
 /*-----------------------------------------------------------*/
 
@@ -2020,7 +2310,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
 	{
 	tskTCB *pxTCB;
-	
+
 		if( xTaskToModify == pxCurrentTCB )
 		{
 			xTaskToModify = NULL;
@@ -2031,8 +2321,9 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 
         vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
 	}
-	/*-----------------------------------------------------------*/
-#endif
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTaskLists( void )
 {
@@ -2051,13 +2342,13 @@ unsigned portBASE_TYPE uxPriority;
 	{
 		vListInitialise( ( xList * ) &xTasksWaitingTermination );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskDelete */
 
 	#if ( INCLUDE_vTaskSuspend == 1 )
 	{
 		vListInitialise( ( xList * ) &xSuspendedTaskList );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskSuspend */
 
 	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
 	using list2. */
@@ -2074,7 +2365,7 @@ static void prvCheckTasksWaitingTermination( void )
 
 		/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
 		too often in the idle task. */
-		if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
+		while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
 		{
 			vTaskSuspendAll();
 				xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
@@ -2087,7 +2378,7 @@ static void prvCheckTasksWaitingTermination( void )
 				taskENTER_CRITICAL();
 				{
 					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
+					uxListRemove( &( pxTCB->xGenericListItem ) );
 					--uxCurrentNumberOfTasks;
 					--uxTasksDeleted;
 				}
@@ -2097,7 +2388,7 @@ static void prvCheckTasksWaitingTermination( void )
 			}
 		}
 	}
-	#endif
+	#endif /* vTaskDelete */
 }
 /*-----------------------------------------------------------*/
 
@@ -2180,20 +2471,20 @@ tskTCB *pxNewTCB;
 			{
 				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
 			}
-			#endif			
-			
-			sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
+			#endif
+
+			sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
 			strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
 
 		} while( pxNextTCB != pxFirstTCB );
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
+	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
 	{
 	volatile tskTCB *pxNextTCB, *pxFirstTCB;
 	unsigned long ulStatsAsPercentage;
@@ -2206,7 +2497,7 @@ tskTCB *pxNewTCB;
 			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
 
 			/* Divide by zero check. */
-			if( ulTotalRunTime > 0UL )
+			if( ulTotalRunTimeDiv100 > 0UL )
 			{
 				/* Has the task run at all? */
 				if( pxNextTCB->ulRunTimeCounter == 0UL )
@@ -2218,14 +2509,14 @@ tskTCB *pxNewTCB;
 				{
 					/* What percentage of the total run time has the task used?
 					This will always be rounded down to the nearest integer.
-					ulTotalRunTime has already been divided by 100. */
-					ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
+					ulTotalRunTimeDiv100 has already been divided by 100. */
+					ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
 
 					if( ulStatsAsPercentage > 0UL )
 					{
 						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
 						{
-							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );							
+							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
 						}
 						#else
 						{
@@ -2241,7 +2532,7 @@ tskTCB *pxNewTCB;
 						consumed less than 1% of the total run time. */
 						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
 						{
-							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );							
+							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
 						}
 						#else
 						{
@@ -2259,7 +2550,7 @@ tskTCB *pxNewTCB;
 		} while( pxNextTCB != pxFirstTCB );
 	}
 
-#endif
+#endif /* configGENERATE_RUN_TIME_STATS */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
@@ -2279,23 +2570,8 @@ tskTCB *pxNewTCB;
 		return usCount;
 	}
 
-#endif
-/*-----------------------------------------------------------*/
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
 
-#if ( INCLUDE_uxTaskGetRunTime == 1 )
-
-	unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
-	{
-		unsigned long runTime;
-
-		tskTCB *pxTCB;
-		pxTCB = prvGetTCBFromHandle( xTask );
-		runTime = pxTCB->ulRunTimeCounter;
-		pxTCB->ulRunTimeCounter = 0;
-		return runTime;
-	}
-
-#endif
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
@@ -2323,7 +2599,7 @@ tskTCB *pxNewTCB;
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelete == 1 )
@@ -2341,9 +2617,7 @@ tskTCB *pxNewTCB;
 		vPortFree( pxTCB );
 	}
 
-#endif
-
-
+#endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
@@ -2360,8 +2634,7 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
-
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
@@ -2389,7 +2662,7 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
@@ -2398,34 +2671,40 @@ tskTCB *pxNewTCB;
 	{
 	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
 
-		configASSERT( pxMutexHolder );
-
-		if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
+		/* If the mutex was given back by an interrupt while the queue was
+		locked then the mutex holder might now be NULL. */
+		if( pxMutexHolder != NULL )
 		{
-			/* Adjust the mutex holder state to account for its new priority. */
-			listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
-
-			/* If the task being modified is in the ready state it will need to
-			be moved in to a new list. */
-			if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
+			if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
 			{
-				vListRemove( &( pxTCB->xGenericListItem ) );
+				/* Adjust the mutex holder state to account for its new priority. */
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
 
-				/* Inherit the priority before being moved into the new list. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-			else
-			{
-				/* Just inherit the priority. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-			}
+				/* If the task being modified is in the ready state it will need to
+				be moved into a new list. */
+				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
+				{
+					if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+					{
+						taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+					}
 
-			traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
+					/* Inherit the priority before being moved into the new list. */
+					pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+					prvAddTaskToReadyQueue( pxTCB );
+				}
+				else
+				{
+					/* Just inherit the priority. */
+					pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+				}
+
+				traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
+			}
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
@@ -2440,7 +2719,10 @@ tskTCB *pxNewTCB;
 			{
 				/* We must be the running task to be able to give the mutex back.
 				Remove ourselves from the ready list we currently appear in. */
-				vListRemove( &( pxTCB->xGenericListItem ) );
+				if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+				{
+					taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+				}
 
 				/* Disinherit the priority before adding the task into the new
 				ready list. */
@@ -2452,7 +2734,7 @@ tskTCB *pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
@@ -2467,28 +2749,28 @@ tskTCB *pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
 
-void vTaskExitCritical( void )
-{
-	if( xSchedulerRunning != pdFALSE )
+	void vTaskExitCritical( void )
 	{
-		if( pxCurrentTCB->uxCriticalNesting > 0U )
+		if( xSchedulerRunning != pdFALSE )
 		{
-			( pxCurrentTCB->uxCriticalNesting )--;
-
-			if( pxCurrentTCB->uxCriticalNesting == 0U )
+			if( pxCurrentTCB->uxCriticalNesting > 0U )
 			{
-				portENABLE_INTERRUPTS();
+				( pxCurrentTCB->uxCriticalNesting )--;
+
+				if( pxCurrentTCB->uxCriticalNesting == 0U )
+				{
+					portENABLE_INTERRUPTS();
+				}
 			}
 		}
 	}
-}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c
old mode 100755
new mode 100644
index 0be294277..ddfdb7047
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
@@ -118,9 +126,9 @@ PRIVILEGED_DATA static xList *pxOverflowTimerList;
 PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;
 
 #if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
-	
+
 	PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL;
-	
+
 #endif
 
 /*-----------------------------------------------------------*/
@@ -200,7 +208,7 @@ portBASE_TYPE xReturn = pdFAIL;
 		{
 			/* Create the timer task, storing its handle in xTimerTaskHandle so
 			it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
-			xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );	
+			xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
 		}
 		#else
 		{
@@ -215,7 +223,7 @@ portBASE_TYPE xReturn = pdFAIL;
 }
 /*-----------------------------------------------------------*/
 
-xTimerHandle xTimerCreate( const signed char *pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
+xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
 {
 xTIMER *pxNewTimer;
 
@@ -233,7 +241,7 @@ xTIMER *pxNewTimer;
 			/* Ensure the infrastructure used by the timer service task has been
 			created/initialised. */
 			prvCheckForValidListAndQueue();
-	
+
 			/* Initialise the timer structure members using the function parameters. */
 			pxNewTimer->pcTimerName = pcTimerName;
 			pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
@@ -241,7 +249,7 @@ xTIMER *pxNewTimer;
 			pxNewTimer->pvTimerID = pvTimerID;
 			pxNewTimer->pxCallbackFunction = pxCallbackFunction;
 			vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
-			
+
 			traceTIMER_CREATE( pxNewTimer );
 		}
 		else
@@ -249,7 +257,7 @@ xTIMER *pxNewTimer;
 			traceTIMER_CREATE_FAILED();
 		}
 	}
-	
+
 	return ( xTimerHandle ) pxNewTimer;
 }
 /*-----------------------------------------------------------*/
@@ -283,10 +291,10 @@ xTIMER_MESSAGE xMessage;
 		{
 			xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
 		}
-		
+
 		traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
 	}
-	
+
 	return xReturn;
 }
 /*-----------------------------------------------------------*/
@@ -300,7 +308,7 @@ xTIMER_MESSAGE xMessage;
 		configASSERT( ( xTimerTaskHandle != NULL ) );
 		return xTimerTaskHandle;
 	}
-	
+
 #endif
 /*-----------------------------------------------------------*/
 
@@ -312,7 +320,7 @@ portBASE_TYPE xResult;
 	/* Remove the timer from the list of active timers.  A check has already
 	been performed to ensure the list is not empty. */
 	pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
-	vListRemove( &( pxTimer->xTimerListItem ) );
+	uxListRemove( &( pxTimer->xTimerListItem ) );
 	traceTIMER_EXPIRED( pxTimer );
 
 	/* If the timer is an auto reload timer then calculate the next
@@ -357,9 +365,9 @@ portBASE_TYPE xListWasEmpty;
 		/* If a timer has expired, process it.  Otherwise, block this task
 		until either a timer does expire, or a command is received. */
 		prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
-		
+
 		/* Empty the command queue. */
-		prvProcessReceivedCommands();		
+		prvProcessReceivedCommands();
 	}
 }
 /*-----------------------------------------------------------*/
@@ -445,7 +453,7 @@ portTickType xTimeNow;
 PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U;
 
 	xTimeNow = xTaskGetTickCount();
-	
+
 	if( xTimeNow < xLastTime )
 	{
 		prvSwitchTimerLists( xLastTime );
@@ -455,9 +463,9 @@ PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U;
 	{
 		*pxTimerListsWereSwitched = pdFALSE;
 	}
-	
+
 	xLastTime = xTimeNow;
-	
+
 	return xTimeNow;
 }
 /*-----------------------------------------------------------*/
@@ -468,7 +476,7 @@ portBASE_TYPE xProcessTimerNow = pdFALSE;
 
 	listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
 	listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
-	
+
 	if( xNextExpiryTime <= xTimeNow )
 	{
 		/* Has the expiry time elapsed between the command to start/reset a
@@ -510,31 +518,29 @@ xTIMER *pxTimer;
 portBASE_TYPE xTimerListsWereSwitched, xResult;
 portTickType xTimeNow;
 
-	/* In this case the xTimerListsWereSwitched parameter is not used, but it
-	must be present in the function call. */
-	xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
-
 	while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL )
 	{
 		pxTimer = xMessage.pxTimer;
 
-		/* Is the timer already in a list of active timers?  When the command
-		is trmCOMMAND_PROCESS_TIMER_OVERFLOW, the timer will be NULL as the
-		command is to the task rather than to an individual timer. */
-		if( pxTimer != NULL )
+		if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
 		{
-			if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
-			{
-				/* The timer is in a list, remove it. */
-				vListRemove( &( pxTimer->xTimerListItem ) );
-			}
+			/* The timer is in a list, remove it. */
+			uxListRemove( &( pxTimer->xTimerListItem ) );
 		}
 
 		traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );
-		
+
+		/* In this case the xTimerListsWereSwitched parameter is not used, but 
+		it must be present in the function call.  prvSampleTimeNow() must be 
+		called after the message is received from xTimerQueue so there is no 
+		possibility of a higher priority task adding a message to the message
+		queue with a time that is ahead of the timer daemon task (because it
+		pre-empted the timer daemon task after the xTimeNow value was set). */
+		xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
+
 		switch( xMessage.xMessageID )
 		{
-			case tmrCOMMAND_START :	
+			case tmrCOMMAND_START :
 				/* Start or restart a timer. */
 				if( prvInsertTimerInActiveList( pxTimer,  xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.xMessageValue ) == pdTRUE )
 				{
@@ -551,7 +557,7 @@ portTickType xTimeNow;
 				}
 				break;
 
-			case tmrCOMMAND_STOP :	
+			case tmrCOMMAND_STOP :
 				/* The timer has already been removed from the active list.
 				There is nothing to do here. */
 				break;
@@ -568,7 +574,7 @@ portTickType xTimeNow;
 				vPortFree( pxTimer );
 				break;
 
-			default	:			
+			default	:
 				/* Don't expect to get here. */
 				break;
 		}
@@ -585,7 +591,7 @@ portBASE_TYPE xResult;
 
 	/* Remove compiler warnings if configASSERT() is not defined. */
 	( void ) xLastTime;
-	
+
 	/* The tick count has overflowed.  The timer lists must be switched.
 	If there are any timers still referenced from the current timer list
 	then they must have expired and should be processed before the lists
@@ -596,7 +602,7 @@ portBASE_TYPE xResult;
 
 		/* Remove the timer from the list. */
 		pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
-		vListRemove( &( pxTimer->xTimerListItem ) );
+		uxListRemove( &( pxTimer->xTimerListItem ) );
 
 		/* Execute its callback, then send a command to restart the timer if
 		it is an auto-reload timer.  It cannot be restarted here as the lists
@@ -684,3 +690,6 @@ xTIMER *pxTimer = ( xTIMER * ) xTimer;
 to include software timer functionality.  If you want to include software timer
 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
 #endif /* configUSE_TIMERS == 1 */
+
+
+
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
new file mode 100644
index 000000000..1fb8ce087
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
@@ -0,0 +1,92 @@
+General guidelines for updating FreeRTOS
+
+This file will list the necessary modifications to FreeRTOS package to be used inside PiOS
+
+- include/task.h
+add the following declaration: 
+
+	/**
+	 * task.h
+	 * <PRE>unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );</PRE>
+	 *
+	 * Returns the run time of selected task
+	 *
+	 * @param xTask Handle of the task associated with the stack to be checked.
+	 * Set xTask to NULL to check the stack of the calling task.
+	 *
+	 * @return The run time of selected task
+	 */
+	unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask );
+
+it usually is added after the declaration of vTaskGetRunTimeStats.
+
+- task.c
+add the following function: 
+
+	#if ( INCLUDE_uxTaskGetRunTime == 1 )
+	
+	    unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
+	    {
+	        unsigned long runTime;
+	
+	        tskTCB *pxTCB;
+	        pxTCB = prvGetTCBFromHandle( xTask );
+	        runTime = pxTCB->ulRunTimeCounter;
+	        pxTCB->ulRunTimeCounter = 0;
+	        return runTime;
+	    }
+	
+	#endif
+	/*----------------------------------------------------------*/
+
+it usually is added after the declaration of vTaskGetRunTimeStats.
+
+- portable/MemMang/heap_1.c
+following there is the modification done in this revision against the base heap_1.c
+The modifications add a currentTOTAL_HEAP_SIZE variable that hold the current heap size,
+used instead of the configTOTAL_HEAP_SIZE macro that can be changed by the added
+xPortIncreaseHeapSize function.
+
+
+--- ../op_evo/FreeRTOSV7.4.0/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-06 15:04:22.760048534 +0200
++++ ./flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-06 14:53:31.828030608 +0200
+@@ -92,13 +92,16 @@
+ 
+ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+ 
+-/* A few bytes might be lost to byte aligning the heap start address. */
+-#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+ 
+ /* Allocate the memory for the heap. */
+-static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
++static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]  __attribute__ ((section (".heap")));
+ static size_t xNextFreeByte = ( size_t ) 0;
+ 
++static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
++
++/* A few bytes might be lost to byte aligning the heap start address. */
++#define configADJUSTED_HEAP_SIZE    (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
++
+ /*-----------------------------------------------------------*/
+ 
+ void *pvPortMalloc( size_t xWantedSize )
+@@ -172,6 +175,12 @@
+ {
+ 	return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
+ }
++/*-----------------------------------------------------------*/
+ 
+-
+-
++void xPortIncreaseHeapSize( size_t bytes )
++{
++    vTaskSuspendAll();
++    currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
++    xTaskResumeAll();
++}
++/*-----------------------------------------------------------*/
+
+
+
+
+	
\ No newline at end of file
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
old mode 100755
new mode 100644
index a02804ade..4d43873ef
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /*-----------------------------------------------------------
@@ -79,17 +87,27 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
 	#define configKERNEL_INTERRUPT_PRIORITY 255
 #endif
 
-/* Constants required to manipulate the NVIC. */
-#define portNVIC_SYSTICK_CTRL		( ( volatile unsigned long *) 0xe000e010 )
-#define portNVIC_SYSTICK_LOAD		( ( volatile unsigned long *) 0xe000e014 )
-#define portNVIC_INT_CTRL			( ( volatile unsigned long *) 0xe000ed04 )
-#define portNVIC_SYSPRI2			( ( volatile unsigned long *) 0xe000ed20 )
-#define portNVIC_SYSTICK_CLK		0x00000004
-#define portNVIC_SYSTICK_INT		0x00000002
-#define portNVIC_SYSTICK_ENABLE		0x00000001
-#define portNVIC_PENDSVSET			0x10000000
-#define portNVIC_PENDSV_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI		( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+#endif
+
+/* Constants required to manipulate the core.  Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
+#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
+#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+
+#define portNVIC_PENDSV_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR			( 0x01000000 )
@@ -103,9 +121,11 @@ variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
- * Setup the timer to generate the tick interrupts.
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
  */
-static void prvSetupTimerInterrupt( void );
+void vPortSetupTimerInterrupt( void );
 
 /*
  * Exception handlers.
@@ -121,6 +141,31 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 
 /*-----------------------------------------------------------*/
 
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long ulTimerReloadValueForOneTick = 0;
+#endif
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*-----------------------------------------------------------*/
+
 /*
  * See header file for description.
  */
@@ -180,17 +225,17 @@ static void prvPortStartFirstTask( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
-	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.  
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
 	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
-	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
-	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
 	/* Start the timer that generates the tick ISR.  Interrupts are disabled
 	here already. */
-	prvSetupTimerInterrupt();
+	vPortSetupTimerInterrupt();
 
 	/* Initialise the critical nesting count ready for the first task. */
 	uxCriticalNesting = 0;
@@ -213,7 +258,7 @@ void vPortEndScheduler( void )
 void vPortYieldFromISR( void )
 {
 	/* Set a PendSV to request a context switch. */
-	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
 }
 /*-----------------------------------------------------------*/
 
@@ -234,6 +279,37 @@ void vPortExitCritical( void )
 }
 /*-----------------------------------------------------------*/
 
+__attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )
+{
+	__asm volatile														\
+	(																	\
+		"	mrs r0, basepri											\n" \
+		"	mov r1, %0												\n"	\
+		"	msr basepri, r1											\n" \
+		"	bx lr													\n" \
+		:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1"	\
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+__attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )
+{
+	__asm volatile													\
+	(																\
+		"	msr basepri, r0										\n"	\
+		"	bx lr												\n" \
+		:::"r0"														\
+	);
+
+	/* Just to avoid compiler warnings. */
+	( void ) ulNewMaskValue;
+}
+/*-----------------------------------------------------------*/
+
 void xPortPendSVHandler( void )
 {
 	/* This is a naked function. */
@@ -271,30 +347,171 @@ void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-unsigned long ulDummy;
-
 	/* If using preemption, also force a context switch. */
 	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
 	#endif
 
-	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
+	1.  If it is set to 0 tickless idle is not being used.  If it is set to a
+	value other than 0 or 1 then a timer other than the SysTick is being used
+	to generate the tick interrupt. */
+	#if configUSE_TICKLESS_IDLE == 1
+		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
+	#endif
+
+	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
 		vTaskIncrementTick();
 	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
 /*-----------------------------------------------------------*/
 
+#if configUSE_TICKLESS_IDLE == 1
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
+	{
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods, and the fraction of a tick period is
+		accounted for later. */
+		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
+
+		/* Adjust the reload value to take into account that the current time
+		slice is already partially complete. */
+		ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "wfi" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Stop SysTick.  Again, the time the SysTick is stopped for is
+			accounted for as best it can be, but using the tickless mode will
+			inevitably result in some tiny drift of the time maintained by the
+			kernel with respect to calendar time. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				/* The tick interrupt has already executed, and the SysTick
+				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
+				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
+				this tick period. */
+				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* The tick interrupt handler will already have pended the tick
+				processing in the kernel.  As the pending tick will be
+				processed as soon as this function exits, the tick value
+				maintained by the tick is stepped forward by one less than the
+				time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted. */
+				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			vTaskStepTick( ulCompleteTickPeriods );
+		}
+	}
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
 /*
  * Setup the systick timer to generate the tick interrupts at the required
  * frequency.
  */
-void prvSetupTimerInterrupt( void )
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 {
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if configUSE_TICKLESS_IDLE == 1
+	{
+		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
+		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
 	/* Configure SysTick to interrupt at the requested rate. */
-	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
+	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
 
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
old mode 100755
new mode 100644
index f932fc858..7d2b7e9f9
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -73,7 +81,7 @@ extern "C" {
 #endif
 
 /*-----------------------------------------------------------
- * Port specific definitions.  
+ * Port specific definitions.
  *
  * The settings in this file configure FreeRTOS correctly for the
  * given hardware and compiler.
@@ -98,71 +106,78 @@ extern "C" {
 	typedef unsigned portLONG portTickType;
 	#define portMAX_DELAY ( portTickType ) 0xffffffff
 #endif
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
 #define portBYTE_ALIGNMENT			4
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 
 /* Scheduler utilities. */
 extern void vPortYieldFromISR( void );
-
 #define portYIELD()					vPortYieldFromISR()
-
 #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
 /*-----------------------------------------------------------*/
 
-
 /* Critical section management. */
-
-/* 
- * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
- * registers.  r0 is clobbered.
- */ 
-#define portSET_INTERRUPT_MASK()						\
-	__asm volatile										\
-	(													\
-		"	mov r0, %0								\n"	\
-		"	msr basepri, r0							\n" \
-		::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0"	\
-	)
-	
-/*
- * Set basepri back to 0 without effective other registers.
- * r0 is clobbered.  FAQ:  Setting BASEPRI to 0 is not a bug.  Please see 
- * http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing.
- */
-#define portCLEAR_INTERRUPT_MASK()			\
-	__asm volatile							\
-	(										\
-		"	mov r0, #0					\n"	\
-		"	msr basepri, r0				\n"	\
-		:::"r0"								\
-	)
-
-/* FAQ:  Setting BASEPRI to 0 in portCLEAR_INTERRUPT_MASK_FROM_ISR() is not a 
-bug.  Please see http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before 
-disagreeing. */
-#define portSET_INTERRUPT_MASK_FROM_ISR()		0;portSET_INTERRUPT_MASK()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portCLEAR_INTERRUPT_MASK();(void)x
-
-
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
-
-#define portDISABLE_INTERRUPTS()	portSET_INTERRUPT_MASK()
-#define portENABLE_INTERRUPTS()		portCLEAR_INTERRUPT_MASK()
-#define portENTER_CRITICAL()		vPortEnterCritical()
-#define portEXIT_CRITICAL()			vPortExitCritical()
+extern unsigned long ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask(x)
+#define portDISABLE_INTERRUPTS()				ulPortSetInterruptMask()
+#define portENABLE_INTERRUPTS()					vPortClearInterruptMask(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
 /*-----------------------------------------------------------*/
 
-/* Task function macros as described on the FreeRTOS.org WEB site. */
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
 
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline unsigned char ucPortCountLeadingZeros( unsigned long ulBitmap )
+	{
+	unsigned char ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+/* portNOP() is not required by this port. */
 #define portNOP()
 
 #ifdef __cplusplus
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
deleted file mode 100644
index 91258edd6..000000000
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
+++ /dev/null
@@ -1,294 +0,0 @@
-/*
-    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
-     *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
-     *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
-     *                                                                       *
-    ***************************************************************************
-
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-/*
- * A sample implementation of pvPortMalloc() and vPortFree() that permits
- * allocated blocks to be freed, but does not combine adjacent free blocks
- * into a single larger block.
- *
- * See heap_1.c and heap_3.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* Allocate the memory for the heap.  The struct is used to force byte
-alignment without using any non-portable code. */
-static union xRTOS_HEAP
-{
-	#if portBYTE_ALIGNMENT == 8
-		volatile portDOUBLE dDummy;
-	#else
-		volatile unsigned long ulDummy;
-	#endif
-	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap __attribute__ ((section (".heap")));
-
-/* Define the linked list structure.  This is used to link free blocks in order
-of their size. */
-typedef struct A_BLOCK_LINK
-{
-	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
-	size_t xBlockSize;						/*<< The size of the free block. */
-} xBlockLink;
-
-
-static const unsigned short  heapSTRUCT_SIZE	= ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
-#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
-
-/* Create a couple of list links to mark the start and end of the list. */
-static xBlockLink xStart, xEnd;
-
-/* Keeps track of the number of free bytes remaining, but says nothing about
-fragmentation. */
-static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
-static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
-
-/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
-
-/*
- * Insert a block into the list of free blocks - which is ordered by size of
- * the block.  Small blocks at the start of the list and large blocks at the end
- * of the list.
- */
-#define prvInsertBlockIntoFreeList( pxBlockToInsert )								\
-{																					\
-xBlockLink *pxIterator;																\
-size_t xBlockSize;																	\
-																					\
-	xBlockSize = pxBlockToInsert->xBlockSize;										\
-																					\
-	/* Iterate through the list until a block is found that has a larger size */	\
-	/* than the block we are inserting. */											\
-	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock )	\
-	{																				\
-		/* There is nothing to do here - just iterate to the correct position. */	\
-	}																				\
-																					\
-	/* Update the list to include the block being inserted in the correct */		\
-	/* position. */																	\
-	pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;					\
-	pxIterator->pxNextFreeBlock = pxBlockToInsert;									\
-}
-/*-----------------------------------------------------------*/
-
-#define prvHeapInit()																\
-{																					\
-xBlockLink *pxFirstFreeBlock;														\
-																					\
-	/* xStart is used to hold a pointer to the first item in the list of free */	\
-	/* blocks.  The void cast is used to prevent compiler warnings. */				\
-	xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap;								\
-	xStart.xBlockSize = ( size_t ) 0;												\
-																					\
-	/* xEnd is used to mark the end of the list of free blocks. */					\
-	xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;										\
-	xEnd.pxNextFreeBlock = NULL;													\
-																					\
-	/* To start with there is a single free block that is sized to take up the		\
-	entire heap space. */															\
-	pxFirstFreeBlock = ( void * ) xHeap.ucHeap;										\
-	pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE;							\
-	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;										\
-}
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;
-void *pvReturn = NULL;
-
-	vTaskSuspendAll();
-	{
-		/* If this is the first call to malloc then the heap will require
-		initialisation to setup the list of free blocks. */
-		if( xHeapHasBeenInitialised == pdFALSE )
-		{
-			prvHeapInit();
-			xHeapHasBeenInitialised = pdTRUE;
-		}
-
-		/* The wanted size is increased so it can contain a xBlockLink
-		structure in addition to the requested amount of bytes. */
-		if( xWantedSize > 0 )
-		{
-			xWantedSize += heapSTRUCT_SIZE;
-
-			/* Ensure that blocks are always aligned to the required number of bytes. */
-			if( xWantedSize & portBYTE_ALIGNMENT_MASK )
-			{
-				/* Byte alignment required. */
-				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-			}
-		}
-
-		if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
-		{
-			/* Blocks are stored in byte order - traverse the list from the start
-			(smallest) block until one of adequate size is found. */
-			pxPreviousBlock = &xStart;
-			pxBlock = xStart.pxNextFreeBlock;
-			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) )
-			{
-				pxPreviousBlock = pxBlock;
-				pxBlock = pxBlock->pxNextFreeBlock;
-			}
-
-			/* If we found the end marker then a block of adequate size was not found. */
-			if( pxBlock != &xEnd )
-			{
-				/* Return the memory space - jumping over the xBlockLink structure
-				at its start. */
-				pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
-
-				/* This block is being returned for use so must be taken our of the
-				list of free blocks. */
-				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
-				/* If the block is larger than required it can be split into two. */
-				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
-				{
-					/* This block is to be split into two.  Create a new block
-					following the number of bytes requested. The void cast is
-					used to prevent byte alignment warnings from the compiler. */
-					pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
-
-					/* Calculate the sizes of two blocks split from the single
-					block. */
-					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
-					pxBlock->xBlockSize = xWantedSize;
-
-					/* Insert the new block into the list of free blocks. */
-					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
-				}
-
-				xFreeBytesRemaining -= pxBlock->xBlockSize;
-			}
-		}
-	}
-	xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-unsigned char *puc = ( unsigned char * ) pv;
-xBlockLink *pxLink;
-
-	if( pv )
-	{
-		/* The memory being freed will have an xBlockLink structure immediately
-		before it. */
-		puc -= heapSTRUCT_SIZE;
-
-		/* This casting is to keep the compiler from issuing warnings. */
-		pxLink = ( void * ) puc;
-
-		vTaskSuspendAll();
-		{
-			/* Add this block to the list of free blocks. */
-			prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
-			xFreeBytesRemaining += pxLink->xBlockSize;
-		}
-		xTaskResumeAll();
-	}
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
-	/* This just exists to keep the linker quiet. */
-}
-
-void xPortIncreaseHeapSize( size_t bytes )
-{
-	xBlockLink *pxNewBlockLink;
-	vTaskSuspendAll();
-	currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
-	xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;
-	xFreeBytesRemaining += bytes;
-	/* Insert the new block into the list of free blocks. */
-	pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
-	pxNewBlockLink->xBlockSize = bytes;
-	prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
-	xTaskResumeAll();
-}
-/*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
deleted file mode 100644
index fa799a0c2..000000000
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
-    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-	
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
-     *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
-     *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
-     *                                                                       *
-    ***************************************************************************
-
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-/*
- * Implementation of pvPortMalloc() and vPortFree() that relies on the
- * compilers own malloc() and free() implementations.
- *
- * This file can only be used if the linker is configured to to generate
- * a heap memory area.
- *
- * See heap_2.c and heap_1.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
- */
-
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn;
-
-	vTaskSuspendAll();
-	{
-		pvReturn = malloc( xWantedSize );
-	}
-	xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-	
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-	if( pv )
-	{
-		vTaskSuspendAll();
-		{
-			free( pv );
-		}
-		xTaskResumeAll();
-	}
-}
-
-
-
diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
index df95cfc72..964e96bf4 100644
--- a/flight/PiOS/STM32F10x/library.mk
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -46,6 +46,6 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
     SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
+    SRC			+= $(wildcard $(FREERTOS_DIR)/portable/MemMang/heap_1.c)
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
 endif
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
old mode 100755
new mode 100644
index c2c143fe2..213b71277
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+++ b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 /*-----------------------------------------------------------
@@ -76,17 +84,27 @@
 	#error This port can only be used when the project options are configured to enable hardware floating point support.
 #endif
 
-/* Constants required to manipulate the NVIC. */
-#define portNVIC_SYSTICK_CTRL		( ( volatile unsigned long * ) 0xe000e010 )
-#define portNVIC_SYSTICK_LOAD		( ( volatile unsigned long * ) 0xe000e014 )
-#define portNVIC_INT_CTRL			( ( volatile unsigned long * ) 0xe000ed04 )
-#define portNVIC_SYSPRI2			( ( volatile unsigned long * ) 0xe000ed20 )
-#define portNVIC_SYSTICK_CLK		0x00000004
-#define portNVIC_SYSTICK_INT		0x00000002
-#define portNVIC_SYSTICK_ENABLE		0x00000001
-#define portNVIC_PENDSVSET			0x10000000
-#define portNVIC_PENDSV_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI		( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#ifndef configSYSTICK_CLOCK_HZ
+	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
+#endif
+
+/* Constants required to manipulate the core.  Registers first... */
+#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
+#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
+/* ...then bits in the registers. */
+#define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
+#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
+#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
+#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+
+#define portNVIC_PENDSV_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
@@ -105,9 +123,11 @@ variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
- * Setup the timer to generate the tick interrupts.
+ * Setup the timer to generate the tick interrupts.  The implementation in this
+ * file is weak to allow application writers to change the timer used to
+ * generate the tick interrupt.
  */
-static void prvSetupTimerInterrupt( void );
+void vPortSetupTimerInterrupt( void );
 
 /*
  * Exception handlers.
@@ -119,13 +139,37 @@ void vPortSVCHandler( void ) __attribute__ (( naked ));
 /*
  * Start first task is a separate function so it can be tested in isolation.
  */
-static void vPortStartFirstTask( void ) __attribute__ (( naked ));
+static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 
 /*
  * Function to enable the VFP.
  */
  static void vPortEnableVFP( void ) __attribute__ (( naked ));
 
+/*-----------------------------------------------------------*/
+
+/*
+ * The number of SysTick increments that make up one tick period.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long ulTimerReloadValueForOneTick = 0;
+#endif
+
+/*
+ * The maximum number of tick periods that can be suppressed is limited by the
+ * 24 bit resolution of the SysTick timer.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long xMaximumPossibleSuppressedTicks = 0;
+#endif /* configUSE_TICKLESS_IDLE */
+
+/*
+ * Compensate for the CPU cycles that pass while the SysTick is stopped (low
+ * power functionality only.
+ */
+#if configUSE_TICKLESS_IDLE == 1
+	static unsigned long ulStoppedTimerCompensation = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*-----------------------------------------------------------*/
 
@@ -180,7 +224,7 @@ void vPortSVCHandler( void )
 }
 /*-----------------------------------------------------------*/
 
-static void vPortStartFirstTask( void )
+static void prvPortStartFirstTask( void )
 {
 	__asm volatile(
 					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
@@ -199,17 +243,17 @@ static void vPortStartFirstTask( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
-	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.  
+	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
-	/* Make PendSV and SysTick the lowest priority interrupts. */
-	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
-	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
+	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
+	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
 	/* Start the timer that generates the tick ISR.  Interrupts are disabled
 	here already. */
-	prvSetupTimerInterrupt();
+	vPortSetupTimerInterrupt();
 
 	/* Initialise the critical nesting count ready for the first task. */
 	uxCriticalNesting = 0;
@@ -221,7 +265,7 @@ portBASE_TYPE xPortStartScheduler( void )
 	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
 
 	/* Start the first task. */
-	vPortStartFirstTask();
+	prvPortStartFirstTask();
 
 	/* Should not get here! */
 	return 0;
@@ -238,7 +282,7 @@ void vPortEndScheduler( void )
 void vPortYieldFromISR( void )
 {
 	/* Set a PendSV to request a context switch. */
-	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
 }
 /*-----------------------------------------------------------*/
 
@@ -259,6 +303,37 @@ void vPortExitCritical( void )
 }
 /*-----------------------------------------------------------*/
 
+__attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )
+{
+	__asm volatile														\
+	(																	\
+		"	mrs r0, basepri											\n" \
+		"	mov r1, %0												\n"	\
+		"	msr basepri, r1											\n" \
+		"	bx lr													\n" \
+		:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1"	\
+	);
+
+	/* This return will not be reached but is necessary to prevent compiler
+	warnings. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+__attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )
+{
+	__asm volatile													\
+	(																\
+		"	msr basepri, r0										\n"	\
+		"	bx lr												\n" \
+		:::"r0"														\
+	);
+
+	/* Just to avoid compiler warnings. */
+	( void ) ulNewMaskValue;
+}
+/*-----------------------------------------------------------*/
+
 void xPortPendSVHandler( void )
 {
 	/* This is a naked function. */
@@ -307,30 +382,171 @@ void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-unsigned long ulDummy;
-
 	/* If using preemption, also force a context switch. */
 	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
 	#endif
 
-	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
+	1.  If it is set to 0 tickless idle is not being used.  If it is set to a
+	value other than 0 or 1 then a timer other than the SysTick is being used
+	to generate the tick interrupt. */
+	#if configUSE_TICKLESS_IDLE == 1
+		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
+	#endif
+
+	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
 		vTaskIncrementTick();
 	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
 /*-----------------------------------------------------------*/
 
+#if configUSE_TICKLESS_IDLE == 1
+
+	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
+	{
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	portTickType xModifiableIdleTime;
+
+		/* Make sure the SysTick reload value does not overflow the counter. */
+		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+		{
+			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+		}
+
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods, and the fraction of a tick period is
+		accounted for later. */
+		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
+		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
+		is accounted for as best it can be, but using the tickless mode will
+		inevitably result in some tiny drift of the time maintained by the
+		kernel with respect to calendar time. */
+		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
+
+		/* Adjust the reload value to take into account that the current time
+		slice is already partially complete. */
+		ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+		}
+		else
+		{
+			/* Set the new reload value. */
+			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+
+			/* Clear the SysTick count flag and set the count value back to
+			zero. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+
+			/* Restart SysTick. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
+			{
+				__asm volatile( "wfi" );
+			}
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+
+			/* Stop SysTick.  Again, the time the SysTick is stopped for is
+			accounted for as best it can be, but using the tickless mode will
+			inevitably result in some tiny drift of the time maintained by the
+			kernel with respect to calendar time. */
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+
+			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+			{
+				/* The tick interrupt has already executed, and the SysTick
+				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
+				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
+				this tick period. */
+				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* The tick interrupt handler will already have pended the tick
+				processing in the kernel.  As the pending tick will be
+				processed as soon as this function exits, the tick value
+				maintained by the tick is stepped forward by one less than the
+				time spent waiting. */
+				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+			}
+			else
+			{
+				/* Something other than the tick interrupt ended the sleep.
+				Work out how long the sleep lasted. */
+				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
+				/* How many complete tick periods passed while the processor
+				was waiting? */
+				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+
+				/* The reload value is set to whatever fraction of a single tick
+				period remains. */
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+			}
+
+			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
+			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
+			value. */
+			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			vTaskStepTick( ulCompleteTickPeriods );
+		}
+	}
+
+#endif /* #if configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
 /*
  * Setup the systick timer to generate the tick interrupts at the required
  * frequency.
  */
-void prvSetupTimerInterrupt( void )
+__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 {
+	/* Calculate the constants required to configure the tick interrupt. */
+	#if configUSE_TICKLESS_IDLE == 1
+	{
+		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
+		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+	}
+	#endif /* configUSE_TICKLESS_IDLE */
+
 	/* Configure SysTick to interrupt at the requested rate. */
-	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
+	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
 
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
old mode 100755
new mode 100644
index 798be5e09..223b372df
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 
@@ -103,60 +111,27 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portBYTE_ALIGNMENT			8
+#define portBYTE_ALIGNMENT			4
 /*-----------------------------------------------------------*/	
 
 
 /* Scheduler utilities. */
 extern void vPortYieldFromISR( void );
-
 #define portYIELD()					vPortYieldFromISR()
-
 #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
 /*-----------------------------------------------------------*/
 
-
 /* Critical section management. */
-
-/* 
- * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
- * registers.  r0 is clobbered.
- */ 
-#define portSET_INTERRUPT_MASK()						\
-	__asm volatile										\
-	(													\
-		"	mov r0, %0								\n"	\
-		"	msr basepri, r0							\n" \
-		::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY):"r0"	\
-	)
-	
-/*
- * Set basepri back to 0 without effective other registers.
- * r0 is clobbered.  FAQ:  Setting BASEPRI to 0 is not a bug.  Please see 
- * http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing.
- */
-#define portCLEAR_INTERRUPT_MASK()			\
-	__asm volatile							\
-	(										\
-		"	mov r0, #0					\n"	\
-		"	msr basepri, r0				\n"	\
-		:::"r0"								\
-	)
-
-/* FAQ:  Setting BASEPRI to 0 in portCLEAR_INTERRUPT_MASK_FROM_ISR() is not a 
-bug.  Please see http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before 
-disagreeing. */
-#define portSET_INTERRUPT_MASK_FROM_ISR()		0;portSET_INTERRUPT_MASK()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portCLEAR_INTERRUPT_MASK();(void)x
-
-
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
-
-#define portDISABLE_INTERRUPTS()	portSET_INTERRUPT_MASK()
-#define portENABLE_INTERRUPTS()		portCLEAR_INTERRUPT_MASK()
-#define portENTER_CRITICAL()		vPortEnterCritical()
-#define portEXIT_CRITICAL()			vPortExitCritical()
+extern unsigned long ulPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask(x)
+#define portDISABLE_INTERRUPTS()				ulPortSetInterruptMask()
+#define portENABLE_INTERRUPTS()					vPortClearInterruptMask(0)
+#define portENTER_CRITICAL()					vPortEnterCritical()
+#define portEXIT_CRITICAL()						vPortExitCritical()
 
 /* There are an uneven number of items on the initial stack, so 
 portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
@@ -164,10 +139,50 @@ portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
 
 /*-----------------------------------------------------------*/
 
-/* Task function macros as described on the FreeRTOS.org WEB site. */
+/* Task function macros as described on the FreeRTOS.org WEB site.  These are
+not necessary for to use this port.  They are defined so the common demo files
+(which build with all the ports) will build. */
 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+/*-----------------------------------------------------------*/
 
+/* Tickless idle/low power functionality. */
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specific optimisations. */
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+
+	/* Generic helper function. */
+	__attribute__( ( always_inline ) ) static inline unsigned char ucPortCountLeadingZeros( unsigned long ulBitmap )
+	{
+	unsigned char ucReturn;
+
+		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) );
+		return ucReturn;
+	}
+
+	/* Check the configuration. */
+	#if( configMAX_PRIORITIES > 32 )
+		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+	#endif
+
+	/* Store/clear the ready priorities in a bit map. */
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+
+	/*-----------------------------------------------------------*/
+
+	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+/* portNOP() is not required by this port. */
 #define portNOP()
 
 #ifdef __cplusplus
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
deleted file mode 100644
index 166c897a7..000000000
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
-    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
-     *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
-     *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
-     *                                                                       *
-    ***************************************************************************
-
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-/*
- * The simplest possible implementation of pvPortMalloc().  Note that this
- * implementation does NOT allow allocated memory to be freed again.
- *
- * See heap_2.c and heap_3.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* Allocate the memory for the heap.  The struct is used to force byte
-alignment without using any non-portable code. */
-static union xRTOS_HEAP
-{
-	#if portBYTE_ALIGNMENT == 8
-		volatile portDOUBLE dDummy;
-	#else
-		volatile unsigned long ulDummy;
-	#endif
-	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap __attribute__ ((section (".heap")));
-
-static size_t xNextFreeByte = ( size_t ) 0;
-static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn = NULL;
-
-	/* Ensure that blocks are always aligned to the required number of bytes. */
-	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
-		{
-			/* Byte alignment required. */
-			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-		}
-	#endif
-
-	vTaskSuspendAll();
-	{
-		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
-			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
-		{
-			/* Return the next free byte then increment the index past this
-			block. */
-			pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
-			xNextFreeByte += xWantedSize;
-		}
-	}
-	xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-	/* Memory cannot be freed using this scheme.  See heap_2.c and heap_3.c
-	for alternative implementations, and the memory management pages of
-	http://www.FreeRTOS.org for more information. */
-	( void ) pv;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
-	/* Only required when static memory is not cleared. */
-	xNextFreeByte = ( size_t ) 0;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
-}
-/*-----------------------------------------------------------*/
-
-void xPortIncreaseHeapSize( size_t bytes )
-{
-	vTaskSuspendAll();
-	currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
-	xTaskResumeAll();
-}
-/*-----------------------------------------------------------*/
diff --git a/flight/targets/OSD/System/inc/FreeRTOSConfig.h b/flight/targets/OSD/System/inc/FreeRTOSConfig.h
index 72d6e288a..023d20476 100644
--- a/flight/targets/OSD/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/OSD/System/inc/FreeRTOSConfig.h
@@ -50,7 +50,7 @@
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES 					0
-//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
+#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
 
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
diff --git a/flight/targets/RevoMini/System/inc/FreeRTOSConfig.h b/flight/targets/RevoMini/System/inc/FreeRTOSConfig.h
index 72d6e288a..023d20476 100644
--- a/flight/targets/RevoMini/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/RevoMini/System/inc/FreeRTOSConfig.h
@@ -50,7 +50,7 @@
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES 					0
-//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
+#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
 
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
diff --git a/flight/targets/Revolution/System/inc/FreeRTOSConfig.h b/flight/targets/Revolution/System/inc/FreeRTOSConfig.h
index 72d6e288a..023d20476 100644
--- a/flight/targets/Revolution/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/Revolution/System/inc/FreeRTOSConfig.h
@@ -50,7 +50,7 @@
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES 					0
-//#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
+#define configMAX_CO_ROUTINE_PRIORITIES 		( 2 )
 
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */

From ce6f84063c162ba37f8fa3d815cc9e312acb66d6 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 6 Apr 2013 16:16:23 +0200
Subject: [PATCH 022/125] OP-908 Cleanup for unwanted double precision math on
 float data. - Use float counterpart instead of double precision function when
 dealing with float data - Force float data type for decimal constants

+review OPReview
---
 flight/Libraries/CoordinateConversions.c     |  10 +-
 flight/Libraries/WorldMagModel.c             | 116 +++++++++----------
 flight/Libraries/inc/WMMInternal.h           |   5 +-
 flight/Libraries/math/sin_lookup.c           |   8 +-
 flight/Modules/Attitude/attitude.c           |  12 +-
 flight/Modules/CameraStab/camerastab.c       |   4 +-
 flight/Modules/Sensors/sensors.c             |   6 +-
 flight/Modules/Stabilization/stabilization.c |   4 +-
 flight/Modules/Stabilization/virtualflybar.c |   2 +-
 flight/Modules/System/systemmod.c            |   2 +-
 10 files changed, 85 insertions(+), 84 deletions(-)

diff --git a/flight/Libraries/CoordinateConversions.c b/flight/Libraries/CoordinateConversions.c
index fc5032e4e..e3f3850f3 100644
--- a/flight/Libraries/CoordinateConversions.c
+++ b/flight/Libraries/CoordinateConversions.c
@@ -73,7 +73,7 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
 	float Lat, N, NplusH, delta, esLat;
 	uint16_t iter;
 #define MAX_ITER 10		// should not take more than 5 for valid coordinates
-#define ACCURACY 1.0e-11	// used to be e-14, but we don't need sub micrometer exact calculations
+#define ACCURACY 1.0e-11f	// used to be e-14, but we don't need sub micrometer exact calculations
 
 	LLA[1] = RAD2DEG * atan2f(y, x);
 	Lat = DEG2RAD * LLA[0];
@@ -294,13 +294,13 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 
 	// The first rows of rot matrices chosen in direction of v1
 	mag = VectorMagnitude(v1b);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < 1e-30f)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[0][i]=v1b[i]/mag;
 
 	mag = VectorMagnitude(v1e);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < 1e-30f)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[0][i]=v1e[i]/mag;
@@ -308,14 +308,14 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 	// The second rows of rot matrices chosen in direction of v1xv2
 	CrossProduct(v1b,v2b,&Rib[1][0]);
 	mag = VectorMagnitude(&Rib[1][0]);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < 1e-30f)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[1][i]=Rib[1][i]/mag;
 
 	CrossProduct(v1e,v2e,&Rie[1][0]);
 	mag = VectorMagnitude(&Rie[1][0]);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < 1e-30f)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[1][i]=Rie[1][i]/mag;
diff --git a/flight/Libraries/WorldMagModel.c b/flight/Libraries/WorldMagModel.c
index 83f413200..8e5d2398c 100644
--- a/flight/Libraries/WorldMagModel.c
+++ b/flight/Libraries/WorldMagModel.c
@@ -242,7 +242,7 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
     {
         CoordGeodetic->lambda = Lon;
         CoordGeodetic->phi = Lat;
-        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid/1000.0; // convert to km
+        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid/1000.0f; // convert to km
 
         // Convert from geodeitic to Spherical Equations: 17-18, WMM Technical report
         if (WMM_GeodeticToSpherical(CoordGeodetic, CoordSpherical) < 0)
@@ -293,9 +293,9 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
         Ellip = NULL;
     }
 
-	B[0] = GeoMagneticElements->X * 1e-2;
-	B[1] = GeoMagneticElements->Y * 1e-2;
-	B[2] = GeoMagneticElements->Z * 1e-2;
+	B[0] = GeoMagneticElements->X * 1e-2f;
+	B[1] = GeoMagneticElements->Y * 1e-2f;
+	B[2] = GeoMagneticElements->Z * 1e-2f;
 
     return returned;
 }
@@ -433,8 +433,8 @@ int WMM_ComputeSphericalHarmonicVariables(WMMtype_CoordSpherical *CoordSpherical
 	float cos_lambda, sin_lambda;
 	uint16_t m, n;
 
-	cos_lambda = cos(DEG2RAD(CoordSpherical->lambda));
-	sin_lambda = sin(DEG2RAD(CoordSpherical->lambda));
+	cos_lambda = cosf(DEG2RAD(CoordSpherical->lambda));
+	sin_lambda = sinf(DEG2RAD(CoordSpherical->lambda));
 
 	/* for n = 0 ... model_order, compute (Radius of Earth / Spherica radius r)^(n+2)
 	   for n  1..nMax-1 (this is much faster than calling pow MAX_N+1 times).      */
@@ -444,12 +444,12 @@ int WMM_ComputeSphericalHarmonicVariables(WMMtype_CoordSpherical *CoordSpherical
 		SphVariables->RelativeRadiusPower[n] = SphVariables->RelativeRadiusPower[n - 1] * (Ellip->re / CoordSpherical->r);
 
 	/*
-	   Compute cos(m*lambda), sin(m*lambda) for m = 0 ... nMax
-	   cos(a + b) = cos(a)*cos(b) - sin(a)*sin(b)
-	   sin(a + b) = cos(a)*sin(b) + sin(a)*cos(b)
+	   Compute cosf(m*lambda), sinf(m*lambda) for m = 0 ... nMax
+	   cosf(a + b) = cosf(a)*cosf(b) - sinf(a)*sinf(b)
+	   sinf(a + b) = cosf(a)*sinf(b) + sinf(a)*cosf(b)
 	 */
-	SphVariables->cos_mlambda[0] = 1.0;
-	SphVariables->sin_mlambda[0] = 0.0;
+	SphVariables->cos_mlambda[0] = 1.0f;
+	SphVariables->sin_mlambda[0] = 0.0f;
 
 	SphVariables->cos_mlambda[1] = cos_lambda;
 	SphVariables->sin_mlambda[1] = sin_lambda;
@@ -480,9 +480,9 @@ int WMM_AssociatedLegendreFunction(WMMtype_CoordSpherical * CoordSpherical, uint
 
 	 */
 {
-	float sin_phi = sin(DEG2RAD(CoordSpherical->phig));	/* sin  (geocentric latitude) */
+	float sin_phi = sinf(DEG2RAD(CoordSpherical->phig));	/* sinf  (geocentric latitude) */
 
-	if (nMax <= 16 || (1 - fabs(sin_phi)) < 1.0e-10)	/* If nMax is less tha 16 or at the poles */
+	if (nMax <= 16 || (1 - fabsf(sin_phi)) < 1.0e-10f)	/* If nMax is less tha 16 or at the poles */
 	{
 		if (WMM_PcupLow(LegendreFunction->Pcup, LegendreFunction->dPcup, sin_phi, nMax) < 0)
 		    return -1;  // error
@@ -508,7 +508,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 
 	   dV ^     1 dV ^        1     dV ^
 	   grad V = -- r  +  - -- t  +  -------- -- p
-	   dr       r dt       r sin(t) dp
+	   dr       r dt       r sinf(t) dp
 
 	   INPUT :  LegendreFunction
 	   MagneticModel
@@ -535,7 +535,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			index = (n * (n + 1) / 2 + m);
 
 /*		    nMax  	(n+2) 	  n     m            m           m
-	Bz =   -SUM (a/r)   (n+1) SUM  [g cos(m p) + h sin(m p)] P (sin(phi))
+	Bz =   -SUM (a/r)   (n+1) SUM  [g cosf(m p) + h sinf(m p)] P (sinf(phi))
 			n=1      	      m=0   n            n           n  */
 /* Equation 12 in the WMM Technical report.  Derivative with respect to radius.*/
 			MagneticResults->Bz -=
@@ -545,7 +545,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			    * (float)(n + 1) * LegendreFunction->Pcup[index];
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Equation 11 in the WMM Technical report. Derivative with respect to longitude, divided by radius. */
 			MagneticResults->By +=
@@ -554,7 +554,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			     SphVariables->sin_mlambda[m] - WMM_get_main_field_coeff_h(index) * SphVariables->cos_mlambda[m])
 			    * (float)(m) * LegendreFunction->Pcup[index];
 /*		   nMax  (n+2) n     m            m           m
-	Bx = - SUM (a/r)   SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	Bx = - SUM (a/r)   SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1         m=0   n            n           n  */
 /* Equation 10  in the WMM Technical report. Derivative with respect to latitude, divided by radius. */
 
@@ -567,8 +567,8 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 		}
 	}
 
-	cos_phi = cos(DEG2RAD(CoordSpherical->phig));
-	if (fabs(cos_phi) > 1.0e-10)
+	cos_phi = cosf(DEG2RAD(CoordSpherical->phig));
+	if (fabsf(cos_phi) > 1.0e-10f)
 	{
 		MagneticResults->By = MagneticResults->By / cos_phi;
 	}
@@ -617,7 +617,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			index = (n * (n + 1) / 2 + m);
 
 /*		    nMax  	(n+2) 	  n     m            m           m
-	Bz =   -SUM (a/r)   (n+1) SUM  [g cos(m p) + h sin(m p)] P (sin(phi))
+	Bz =   -SUM (a/r)   (n+1) SUM  [g cosf(m p) + h sinf(m p)] P (sinf(phi))
 			n=1      	      m=0   n            n           n  */
 /*  Derivative with respect to radius.*/
 			MagneticResults->Bz -=
@@ -627,7 +627,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			    * (float)(n + 1) * LegendreFunction->Pcup[index];
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Derivative with respect to longitude, divided by radius. */
 			MagneticResults->By +=
@@ -636,7 +636,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			     SphVariables->sin_mlambda[m] - WMM_get_secular_var_coeff_h(index) * SphVariables->cos_mlambda[m])
 			    * (float)(m) * LegendreFunction->Pcup[index];
 /*		   nMax  (n+2) n     m            m           m
-	Bx = - SUM (a/r)   SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	Bx = - SUM (a/r)   SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1         m=0   n            n           n  */
 /* Derivative with respect to latitude, divided by radius. */
 
@@ -647,8 +647,8 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			    * LegendreFunction->dPcup[index];
 		}
 	}
-	cos_phi = cos(DEG2RAD(CoordSpherical->phig));
-	if (fabs(cos_phi) > 1.0e-10)
+	cos_phi = cosf(DEG2RAD(CoordSpherical->phig));
+	if (fabsf(cos_phi) > 1.0e-10f)
 	{
 		MagneticResults->By = MagneticResults->By / cos_phi;
 	}
@@ -695,11 +695,11 @@ int WMM_RotateMagneticVector(WMMtype_CoordSpherical * CoordSpherical,
 	 */
 {
 	/* Difference between the spherical and Geodetic latitudes */
-	float Psi = (M_PI / 180) * (CoordSpherical->phig - CoordGeodetic->phi);
+	float Psi = (M_PI_F / 180) * (CoordSpherical->phig - CoordGeodetic->phi);
 
 	/* Rotate spherical field components to the Geodeitic system */
-	MagneticResultsGeo->Bz = MagneticResultsSph->Bx * sin(Psi) + MagneticResultsSph->Bz * cos(Psi);
-	MagneticResultsGeo->Bx = MagneticResultsSph->Bx * cos(Psi) - MagneticResultsSph->Bz * sin(Psi);
+	MagneticResultsGeo->Bz = MagneticResultsSph->Bx * sinf(Psi) + MagneticResultsSph->Bz * cosf(Psi);
+	MagneticResultsGeo->Bx = MagneticResultsSph->Bx * cosf(Psi) - MagneticResultsSph->Bz * sinf(Psi);
 	MagneticResultsGeo->By = MagneticResultsSph->By;
 
     return 0;
@@ -727,10 +727,10 @@ int WMM_CalculateGeoMagneticElements(WMMtype_MagneticResults * MagneticResultsGe
 	GeoMagneticElements->Y = MagneticResultsGeo->By;
 	GeoMagneticElements->Z = MagneticResultsGeo->Bz;
 
-	GeoMagneticElements->H = sqrt(MagneticResultsGeo->Bx * MagneticResultsGeo->Bx + MagneticResultsGeo->By * MagneticResultsGeo->By);
-	GeoMagneticElements->F = sqrt(GeoMagneticElements->H * GeoMagneticElements->H + MagneticResultsGeo->Bz * MagneticResultsGeo->Bz);
-	GeoMagneticElements->Decl = RAD2DEG(atan2(GeoMagneticElements->Y, GeoMagneticElements->X));
-	GeoMagneticElements->Incl = RAD2DEG(atan2(GeoMagneticElements->Z, GeoMagneticElements->H));
+	GeoMagneticElements->H = sqrtf(MagneticResultsGeo->Bx * MagneticResultsGeo->Bx + MagneticResultsGeo->By * MagneticResultsGeo->By);
+	GeoMagneticElements->F = sqrtf(GeoMagneticElements->H * GeoMagneticElements->H + MagneticResultsGeo->Bz * MagneticResultsGeo->Bz);
+	GeoMagneticElements->Decl = RAD2DEG(atan2f(GeoMagneticElements->Y, GeoMagneticElements->X));
+	GeoMagneticElements->Incl = RAD2DEG(atan2f(GeoMagneticElements->Z, GeoMagneticElements->H));
 
     return 0;   // OK
 }
@@ -762,10 +762,10 @@ int WMM_CalculateSecularVariation(WMMtype_MagneticResults * MagneticVariation, W
 	    (MagneticElements->X * MagneticElements->Xdot +
 	     MagneticElements->Y * MagneticElements->Ydot + MagneticElements->Z * MagneticElements->Zdot) / MagneticElements->F;
 	MagneticElements->Decldot =
-	    180.0 / M_PI * (MagneticElements->X * MagneticElements->Ydot -
+	    180.0f / M_PI_F * (MagneticElements->X * MagneticElements->Ydot -
 			    MagneticElements->Y * MagneticElements->Xdot) / (MagneticElements->H * MagneticElements->H);
 	MagneticElements->Incldot =
-	    180.0 / M_PI * (MagneticElements->H * MagneticElements->Zdot -
+	    180.0f / M_PI_F * (MagneticElements->H * MagneticElements->Zdot -
 			    MagneticElements->Z * MagneticElements->Hdot) / (MagneticElements->F * MagneticElements->F);
 	MagneticElements->GVdot = MagneticElements->Decldot;
 
@@ -776,7 +776,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 
 /*	This function evaluates all of the Schmidt-semi normalized associated Legendre
 	functions up to degree nMax. The functions are initially scaled by
-	10^280 sin^m in order to minimize the effects of underflow at large m
+	10^280 sinf^m in order to minimize the effects of underflow at large m
 	near the poles (see Holmes and Featherstone 2002, J. Geodesy, 76, 279-299).
 	Note that this function performs the same operation as WMM_PcupLow.
 	However this function also can be used for high degree (large nMax) models.
@@ -784,7 +784,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Calling Parameters:
 		INPUT
 			nMax:	 Maximum spherical harmonic degree to compute.
-			x:		cos(colatitude) or sin(latitude).
+			x:		cosf(colatitude) or sinf(latitude).
 
 		OUTPUT
 			Pcup:	A vector of all associated Legendgre polynomials evaluated at
@@ -800,9 +800,9 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 
   Change from the previous version
   The prevous version computes the derivatives as
-  dP(n,m)(x)/dx, where x = sin(latitude) (or cos(colatitude) ).
+  dP(n,m)(x)/dx, where x = sinf(latitude) (or cosf(colatitude) ).
   However, the WMM Geomagnetic routines requires dP(n,m)(x)/dlatitude.
-  Hence the derivatives are multiplied by sin(latitude).
+  Hence the derivatives are multiplied by sinf(latitude).
   Removed the options for CS phase and normalizations.
 
   Note: In geomagnetism, the derivatives of ALF are usually found with
@@ -842,7 +842,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	scalef = 1.0e-280;
 
 	for (n = 0; n <= 2 * nMax + 1; ++n)
-		PreSqr[n] = sqrt((float)(n));
+		PreSqr[n] = sqrtf((float)(n));
 
 	k = 2;
 
@@ -860,10 +860,10 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 		k = k + 2;
 	}
 
-	/*z = sin (geocentric latitude) */
-	z = sqrt((1.0 - x) * (1.0 + x));
+	/*z = sinf (geocentric latitude) */
+	z = sqrtf((1.0f - x) * (1.0f + x));
 	pm2 = 1.0;
-	Pcup[0] = 1.0;
+	Pcup[0] = 1.0f;
 	dPcup[0] = 0.0;
 	if (nMax == 0)
     {
@@ -945,7 +945,7 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Calling Parameters:
 		INPUT
 			nMax:	 Maximum spherical harmonic degree to compute.
-			x:		cos(colatitude) or sin(latitude).
+			x:		cosf(colatitude) or sinf(latitude).
 
 		OUTPUT
 			Pcup:	A vector of all associated Legendgre polynomials evaluated at
@@ -975,8 +975,8 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Pcup[0] = 1.0;
 	dPcup[0] = 0.0;
 
-	/*sin (geocentric latitude) - sin_phi */
-	z = sqrt((1.0 - x) * (1.0 + x));
+	/*sinf (geocentric latitude) - sin_phi */
+	z = sqrtf((1.0f - x) * (1.0f + x));
 
 	/*       First, Compute the Gauss-normalized associated Legendre  functions */
 	for (n = 1; n <= nMax; n++)
@@ -1033,7 +1033,7 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 		{
 			index = (n * (n + 1) / 2 + m);
 			index1 = (n * (n + 1) / 2 + m - 1);
-			schmidtQuasiNorm[index] = schmidtQuasiNorm[index1] * sqrt((float)((n - m + 1) * (m == 1 ? 2 : 1)) / (float)(n + m));
+			schmidtQuasiNorm[index] = schmidtQuasiNorm[index1] * sqrtf((float)((n - m + 1) * (m == 1 ? 2 : 1)) / (float)(n + m));
 		}
 
 	}
@@ -1086,7 +1086,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 	schmidtQuasiNorm1 = 1.0;
 
 	MagneticResults->By = 0.0;
-	sin_phi = sin(DEG2RAD(CoordSpherical->phig));
+	sin_phi = sinf(DEG2RAD(CoordSpherical->phig));
 
 	for (n = 1; n <= MagneticModel->nMax; n++)
 	{
@@ -1097,7 +1097,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 
 		index = (n * (n + 1) / 2 + 1);
 		schmidtQuasiNorm2 = schmidtQuasiNorm1 * (float)(2 * n - 1) / (float)n;
-		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrt((float)(n * 2) / (float)(n + 1));
+		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrtf((float)(n * 2) / (float)(n + 1));
 		schmidtQuasiNorm1 = schmidtQuasiNorm2;
 		if (n == 1)
 		{
@@ -1110,7 +1110,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 		}
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Equation 11 in the WMM Technical report. Derivative with respect to longitude, divided by radius. */
 
@@ -1152,13 +1152,13 @@ int WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables *
 	schmidtQuasiNorm1 = 1.0;
 
 	MagneticResults->By = 0.0;
-	sin_phi = sin(DEG2RAD(CoordSpherical->phig));
+	sin_phi = sinf(DEG2RAD(CoordSpherical->phig));
 
 	for (n = 1; n <= MagneticModel->nMaxSecVar; n++)
 	{
 		index = (n * (n + 1) / 2 + 1);
 		schmidtQuasiNorm2 = schmidtQuasiNorm1 * (float)(2 * n - 1) / (float)n;
-		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrt((float)(n * 2) / (float)(n + 1));
+		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrtf((float)(n * 2) / (float)(n + 1));
 		schmidtQuasiNorm1 = schmidtQuasiNorm2;
 		if (n == 1)
 		{
@@ -1171,7 +1171,7 @@ int WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables *
 		}
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Derivative with respect to longitude, divided by radius. */
 
@@ -1291,7 +1291,7 @@ int WMM_DateToYear(uint16_t month, uint16_t day, uint16_t year)
 		temp += MonthDays[i - 1];
 	temp += day;
 	
-	decimal_date = year + (temp - 1) / (365.0 + ExtraDay);
+	decimal_date = year + (temp - 1) / (365.0f + ExtraDay);
 
 	return 0;   // OK
 }
@@ -1304,21 +1304,21 @@ int WMM_GeodeticToSpherical(WMMtype_CoordGeodetic * CoordGeodetic, WMMtype_Coord
 {
 	float CosLat, SinLat, rc, xp, zp;	// all local variables
 
-	CosLat = cos(DEG2RAD(CoordGeodetic->phi));
-	SinLat = sin(DEG2RAD(CoordGeodetic->phi));
+	CosLat = cosf(DEG2RAD(CoordGeodetic->phi));
+	SinLat = sinf(DEG2RAD(CoordGeodetic->phi));
 
 	// compute the local radius of curvature on the WGS-84 reference ellipsoid
-	rc = Ellip->a / sqrt(1.0 - Ellip->epssq * SinLat * SinLat);
+	rc = Ellip->a / sqrtf(1.0f - Ellip->epssq * SinLat * SinLat);
 
 	// compute ECEF Cartesian coordinates of specified point (for longitude=0)
 
 	xp = (rc + CoordGeodetic->HeightAboveEllipsoid) * CosLat;
-	zp = (rc * (1.0 - Ellip->epssq) + CoordGeodetic->HeightAboveEllipsoid) * SinLat;
+	zp = (rc * (1.0f - Ellip->epssq) + CoordGeodetic->HeightAboveEllipsoid) * SinLat;
 
 	// compute spherical radius and angle lambda and phi of specified point
 
-	CoordSpherical->r = sqrt(xp * xp + zp * zp);
-	CoordSpherical->phig = RAD2DEG(asin(zp / CoordSpherical->r));	// geocentric latitude
+	CoordSpherical->r = sqrtf(xp * xp + zp * zp);
+	CoordSpherical->phig = RAD2DEG(asinf(zp / CoordSpherical->r));	// geocentric latitude
 	CoordSpherical->lambda = CoordGeodetic->lambda;	// longitude
 
 	return 0;   // OK
diff --git a/flight/Libraries/inc/WMMInternal.h b/flight/Libraries/inc/WMMInternal.h
index 8b9e936f9..d09913fc9 100644
--- a/flight/Libraries/inc/WMMInternal.h
+++ b/flight/Libraries/inc/WMMInternal.h
@@ -35,8 +35,9 @@
 #define	NUMTERMS 91		// ((WMM_MAX_MODEL_DEGREES+1)*(WMM_MAX_MODEL_DEGREES+2)/2);
 #define NUMPCUP 92		// NUMTERMS +1
 #define NUMPCUPS 13		// WMM_MAX_MODEL_DEGREES +1
-#define RAD2DEG(rad)    ((rad)*(180.0L/M_PI))
-#define DEG2RAD(deg)    ((deg)*(M_PI/180.0L))
+#define M_PI_F ((float)M_PI)
+#define RAD2DEG(rad)    ((rad)*(180.0f/M_PI_F))
+#define DEG2RAD(deg)    ((deg)*(M_PI_F/180.0f))
 
 	// internal structure definitions
 typedef struct {
diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 1e703b87f..4b7fa7a8d 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -81,7 +81,7 @@ int sin_lookup_initalize()
 		return -1;
 
 	for(uint32_t i = 0; i < 180; i++)
-		sin_table[i] = sinf((float)i * 2 * M_PI / 360.0f);
+		sin_table[i] = sinf((float)i * 2 * ((float)M_PI) / 360.0f);
 
 	return 0;
 }
@@ -126,7 +126,7 @@ float cos_lookup_deg(float angle)
  */
 float sin_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / M_PI;
+	int degrees = angle * 180.0f / ((float)M_PI);
 	return sin_lookup_deg(degrees);
 }
 
@@ -137,6 +137,6 @@ float sin_lookup_rad(float angle)
  */
 float cos_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / M_PI;
+	int degrees = angle * 180.0f / ((float)M_PI);
 	return cos_lookup_deg(degrees);
-}
\ No newline at end of file
+}
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index b65811069..81b351737 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -513,10 +513,10 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 		// Work out time derivative from INSAlgo writeup
 		// Also accounts for the fact that gyros are in deg/s
 		float qdot[4];
-		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * M_PI / 180 / 2;
+		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
+		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
+		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
+		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
 		
 		// Take a time step
 		q[0] = q[0] + qdot[0];
@@ -541,7 +541,7 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 	
 	// If quaternion has become inappropriately short or is nan reinit.
 	// THIS SHOULD NEVER ACTUALLY HAPPEN
-	if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
+	if((fabsf(qmag) < 1e-3f) || (qmag != qmag)) {
 		q[0] = 1;
 		q[1] = 0;
 		q[2] = 0;
@@ -571,7 +571,7 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
 
 	// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
 	const float fakeDt = 0.0025;
-	if (attitudeSettings.AccelTau < 0.0001) {
+	if (attitudeSettings.AccelTau < 0.0001f) {
 		accel_alpha = 0;   // not trusting this to resolve to 0
 		accel_filter_enabled = false;
 	} else {
diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 89f41e821..7aed45983 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -295,7 +295,7 @@ void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraSta
 		if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
 			float pitch;
 			AttitudeActualPitchGet(&pitch);
-			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabs(pitch))
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabsf(pitch))
 							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
 		}
 		break;
@@ -303,7 +303,7 @@ void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraSta
 		if (index == CAMERASTABSETTINGS_INPUT_PITCH) {
 			float roll;
 			AttitudeActualRollGet(&roll);
-			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabs(roll))
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabsf(roll))
 							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
 		}
 		break;
diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index f6584c682..5b909f5e3 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -67,7 +67,7 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define SENSOR_PERIOD 2
 
-#define F_PI 3.14159265358979323846f
+#define F_PI ((float)M_PI)
 #define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
 // Private types
 
@@ -498,8 +498,8 @@ static void magOffsetEstimation(MagnetometerData *mag)
 	B_e[1] = R[0][1] * mag->x + R[1][1] * mag->y + R[2][1] * mag->z;
 	B_e[2] = R[0][2] * mag->x + R[1][2] * mag->y + R[2][2] * mag->z;
 	
-	float cy = cosf(attitude.Yaw * M_PI / 180.0f);
-	float sy = sinf(attitude.Yaw * M_PI / 180.0f);
+	float cy = cosf(attitude.Yaw * F_PI / 180.0f);
+	float sy = sinf(attitude.Yaw * F_PI / 180.0f);
 	
 	xy[0] =  cy * B_e[0] + sy * B_e[1];
 	xy[1] = -sy * B_e[0] + cy * B_e[1];
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 52ccc8f29..f76eeff1f 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -296,7 +296,7 @@ static void stabilizationTask(void* parameters)
 					if (reinit)
 						pids[PID_RATE_ROLL + i].iAccumulator = 0;
 
-					if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
+					if(fabsf(attitudeDesiredAxis[i]) > max_axislock_rate) {
 						// While getting strong commands act like rate mode
 						rateDesiredAxis[i] = attitudeDesiredAxis[i];
 						axis_lock_accum[i] = 0;
@@ -485,7 +485,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
 	// calculation
 	const float fakeDt = 0.0025;
-	if(settings.GyroTau < 0.0001)
+	if(settings.GyroTau < 0.0001f)
 		gyro_alpha = 0;   // not trusting this to resolve to 0
 	else
 		gyro_alpha = expf(-fakeDt  / settings.GyroTau);
diff --git a/flight/Modules/Stabilization/virtualflybar.c b/flight/Modules/Stabilization/virtualflybar.c
index bbfe69eae..c123174b3 100644
--- a/flight/Modules/Stabilization/virtualflybar.c
+++ b/flight/Modules/Stabilization/virtualflybar.c
@@ -55,7 +55,7 @@ int stabilization_virtual_flybar(float gyro, float command, float *output, float
 
 	// Command signal can indicate how much to disregard the gyro feedback (fast flips)
 	if (settings->VbarGyroSuppress > 0) {
-		gyro_gain = (1.0f - fabs(command) * settings->VbarGyroSuppress / 100.0f);
+		gyro_gain = (1.0f - fabsf(command) * settings->VbarGyroSuppress / 100.0f);
 		gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
 	}
 
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 8d6e88508..d10ca3a79 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -443,7 +443,7 @@ static void updateStats()
 	idleCounterClear = 1;
 	
 #if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
-	float temp_voltage = 3.3 * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
+	float temp_voltage = 3.3f * PIOS_ADC_PinGet(0) / ((float)((1 << 12) - 1));
 	const float STM32_TEMP_V25 = 1.43; /* V */
 	const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
 	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;

From f260b2f56815279ecdba128fd9475bc85e427bf6 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 6 Apr 2013 19:01:12 +0300
Subject: [PATCH 023/125] OP-897: remove non-user-selectable modes from GCS
 dropdown lists

Now all unsupported options are disabled. They will be reenabled when
ready for end users. Still developers can set them using UAVObjBrowser.

As a side effect, a bit changed UAVO XML definitions. The "limits"
option now uses comma to separate rules, semicolon to separate elements.
Was vice versa.

OP-897 #resolve #comment Pushed for review
+review OPReview
---
 .../src/plugins/config/configinputwidget.cpp  | 18 +++----
 .../src/plugins/uavobjects/uavobjectfield.cpp | 25 +++++++---
 .../manualcontrolsettings.xml                 | 49 +++++++++++++++++--
 .../stabilizationsettings.xml                 | 16 +++---
 4 files changed, 79 insertions(+), 29 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index e9c9f8708..9bce4d777 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -133,15 +133,15 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
 
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw",1,true);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
     addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
index 85b0f721f..8ac7f6674 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
 
 void UAVObjectField::limitsInitialize(const QString &limits)
 {
-    /// format
-    /// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller)
-    /// (VALX)->value
-    /// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3
-    /// example: first element bigger than 3 and second element inside [2.3,5]
-    /// "%BI:3,%BE:2.3:5"
+    // Limit string format:
+    //     %        - start char
+    //     XXXX     - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
+    //     TY       - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
+    //     VAL      - values for TY separated by colon
+    //     ,        - rule separator (may have leading or trailing spaces)
+    //     ;        - element separator (may have leading or trailing spaces)
+    //
+    // Examples:
+    //     Disable few flight modes for Revo (00903):
+    //         "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
+    //     Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
+    //         "%0401BI:3; %BE:2.3:5"
+    //     Set applicable range [0-500] for 3 elements of array for all boards:
+    //         "%BE:0:500; %BE:0:500; %BE:0:500"
     if(limits.isEmpty())
         return;
-    QStringList stringPerElement=limits.split(",");
+    QStringList stringPerElement = limits.split(";");
     quint32 index=0;
     foreach (QString str, stringPerElement) {
-        QStringList ruleList=str.split(";");
+        QStringList ruleList = str.split(",");
         QList<LimitStruct> limitList;
         foreach(QString rule,ruleList)
         {
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index ccb7cb54e..17b85cf5f 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -20,13 +20,54 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization2Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization3Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
-        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/>
+        <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
+        <field name="FlightModePosition" units="" type="enum" elements="6"
+		options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
+		defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
+		limits=" \
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner \
+		">
+        </field>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index b5c233fdc..06d5538e4 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -4,15 +4,15 @@
 	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
-	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
-	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
-	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
-	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
 	<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
 	<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>

From 71de38f2d5f01cc75aa028e33957e3dafa7b534a Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 6 Apr 2013 23:07:06 +0200
Subject: [PATCH 024/125] OP-908 Uniform handling of M_PI using a Floating
 counterpart F_PI, explicitly define integer constants as float when  used in
 floating point calculations

+review OPReview-436
---
 flight/Libraries/CoordinateConversions.c |  2 +-
 flight/Libraries/math/sin_lookup.c       |  7 ++++---
 flight/Modules/Attitude/attitude.c       | 10 ++++++----
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/flight/Libraries/CoordinateConversions.c b/flight/Libraries/CoordinateConversions.c
index e3f3850f3..98b2aef80 100644
--- a/flight/Libraries/CoordinateConversions.c
+++ b/flight/Libraries/CoordinateConversions.c
@@ -31,7 +31,7 @@
 #include <stdint.h>
 #include "CoordinateConversions.h"
 
-#define F_PI 3.14159265358979323846f
+#define F_PI ((float)M_PI)
 #define RAD2DEG (180.0f/ F_PI)
 #define DEG2RAD (F_PI /180.0f)
 
diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 4b7fa7a8d..2d67ca162 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -33,6 +33,7 @@
 #include "stdbool.h"
 #include "stdint.h"
 
+#define F_PI ((float)M_PI)
 #define FLASH_TABLE
 #ifdef FLASH_TABLE
  /** Version of the code which precomputes the lookup table in flash **/
@@ -81,7 +82,7 @@ int sin_lookup_initalize()
 		return -1;
 
 	for(uint32_t i = 0; i < 180; i++)
-		sin_table[i] = sinf((float)i * 2 * ((float)M_PI) / 360.0f);
+		sin_table[i] = sinf((float)i * 2 * F_PI / 360.0f);
 
 	return 0;
 }
@@ -126,7 +127,7 @@ float cos_lookup_deg(float angle)
  */
 float sin_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / ((float)M_PI);
+	int degrees = angle * 180.0f / F_PI;
 	return sin_lookup_deg(degrees);
 }
 
@@ -137,6 +138,6 @@ float sin_lookup_rad(float angle)
  */
 float cos_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / ((float)M_PI);
+	int degrees = angle * 180.0f / F_PI;
 	return cos_lookup_deg(degrees);
 }
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index 81b351737..7a669dd2c 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -67,6 +67,8 @@
 #define UPDATE_RATE  25.0f
 #define GYRO_NEUTRAL 1665
 
+#define F_PI ((float)M_PI)
+
 #define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
 // Private types
 
@@ -513,10 +515,10 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 		// Work out time derivative from INSAlgo writeup
 		// Also accounts for the fact that gyros are in deg/s
 		float qdot[4];
-		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
-		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
-		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
-		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
+		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
+		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
+		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
+		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
 		
 		// Take a time step
 		q[0] = q[0] + qdot[0];

From 9d53b68ab8614345468e2d421559eb1ae0d89698 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sun, 7 Apr 2013 11:52:33 +0200
Subject: [PATCH 025/125] OP-816 Added settings enums for GPS and Revolution
 Radio modem. Added basic hardware settings implementation for Revolution
 board.

---
 .../src/plugins/setupwizard/setupwizard.h     |  9 +++++
 .../vehicleconfigurationhelper.cpp            | 33 ++++++++++++++++++-
 .../setupwizard/vehicleconfigurationsource.h  |  6 ++++
 3 files changed, 47 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 3f3c93f46..5fe791522 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -58,6 +58,12 @@ public:
     void setESCType(SetupWizard::ESC_TYPE type) { m_escType = type; }
     SetupWizard::ESC_TYPE getESCType() const { return m_escType; }
 
+    void setGPSSetting(SetupWizard::GPS_SETTING setting) { m_gpsSetting = setting; }
+    SetupWizard::GPS_SETTING getGPSSetting() const {return m_gpsSetting;}
+
+    void setRadioSetting(SetupWizard::RADIO_SETTING setting) { m_radioSetting = setting; }
+    SetupWizard::RADIO_SETTING getRadioSetting() const {return m_radioSetting;}
+
     void setLevellingBias(accelGyroBias bias) { m_levellingBias = bias; m_levellingPerformed = true; }
     bool isLevellingPerformed() const { return m_levellingPerformed; }
     accelGyroBias getLevellingBias() const { return m_levellingBias; }
@@ -96,6 +102,9 @@ private:
     INPUT_TYPE m_inputType;
     ESC_TYPE m_escType;
 
+    GPS_SETTING m_gpsSetting;
+    RADIO_SETTING m_radioSetting;
+
     bool m_levellingPerformed;
     accelGyroBias m_levellingBias;
 
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index d62fdd1e3..a4d51294a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -141,7 +141,38 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
             }
             break;
         case VehicleConfigurationSource::CONTROLLER_REVO:
-            // TODO: Implement Revo settings
+            // Reset all ports
+            data.RM_RcvrPort = HwSettings::RM_RCVRPORT_DISABLED;
+
+            //Default mainport to be active telemetry link
+            data.RM_MainPort = HwSettings::RM_MAINPORT_TELEMETRY;
+
+            data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DISABLED;
+            switch(m_configSource->getInputType())
+            {
+                case VehicleConfigurationSource::INPUT_PWM:
+                    data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PWM;
+                    break;
+                case VehicleConfigurationSource::INPUT_PPM:
+                    data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PPM;
+                    break;
+                case VehicleConfigurationSource::INPUT_SBUS:
+                    // We have to set teletry on flexport since s.bus needs the mainport.
+                    data.RM_MainPort = HwSettings::RM_MAINPORT_SBUS;
+                    data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_TELEMETRY;
+                    break;
+                case VehicleConfigurationSource::INPUT_DSMX10:
+                    data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSMX10BIT;
+                    break;
+                case VehicleConfigurationSource::INPUT_DSMX11:
+                    data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSMX11BIT;
+                    break;
+                case VehicleConfigurationSource::INPUT_DSM2:
+                    data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSM2;
+                    break;
+                default:
+                    break;
+            }
             break;
         default:
             break;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index 5bb15ceb0..ebe23a33f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -65,12 +65,18 @@ public:
     enum ESC_TYPE {ESC_RAPID, ESC_LEGACY, ESC_UNKNOWN};
     enum INPUT_TYPE {INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSMX10, INPUT_DSMX11, INPUT_DSM2, INPUT_UNKNOWN};
 
+    enum GPS_SETTING {GPS_UBX, GPS_NMEA, GPS_DISABLED};
+    enum RADIO_SETTING {RADIO_TELEMETRY, RADIO_DISABLED};
+
     virtual VehicleConfigurationSource::CONTROLLER_TYPE getControllerType() const = 0;
     virtual VehicleConfigurationSource::VEHICLE_TYPE getVehicleType() const = 0;
     virtual VehicleConfigurationSource::VEHICLE_SUB_TYPE getVehicleSubType() const = 0;
     virtual VehicleConfigurationSource::INPUT_TYPE getInputType() const = 0;
     virtual VehicleConfigurationSource::ESC_TYPE getESCType() const = 0;
 
+    virtual VehicleConfigurationSource::GPS_SETTING getGPSSetting() const = 0;
+    virtual VehicleConfigurationSource::RADIO_SETTING getRadioSetting() const = 0;
+
     virtual bool isLevellingPerformed() const = 0;
     virtual accelGyroBias getLevellingBias() const = 0;
 

From 030cab376e7cd1b62530bfafaba4a3d7f6fc1b85 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sun, 7 Apr 2013 22:25:10 +0200
Subject: [PATCH 026/125] OP-879 move loading of factory default settings
 earlier (i.e. before any access to settings). In other words, factory default
 are now loaded from main.cpp instead of from mainwindow.cpp + minor
 formatting cleanups

---
 ground/openpilotgcs/src/app/main.cpp          | 131 +++++++++++++-----
 .../src/plugins/coreplugin/mainwindow.cpp     |  61 +-------
 2 files changed, 98 insertions(+), 94 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index 98b93ff9a..1c3e64d59 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -78,6 +78,8 @@ static const char *EXIT_AFTER_CONFIG_OPTION = "-exit-after-config";
 
 typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
 
+static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
+
 // Helpers for displaying messages. Note that there is no console on Windows.
 #ifdef Q_OS_WIN
 // Format as <pre> HTML
@@ -204,36 +206,88 @@ static inline QStringList getPluginPaths()
     return rc;
 }
 
+static void loadFactorySettings(QSettings &settings)
+{
+    QDir directory(QCoreApplication::applicationDirPath());
 #ifdef Q_OS_MAC
-#  define SHARE_PATH "/../Resources"
+    directory.cdUp();
+    directory.cd("Resources");
 #else
-#  define SHARE_PATH "/../share/openpilotgcs"
+    directory.cdUp();
+    directory.cd("share");
+    directory.cd("openpilotgcs");
 #endif
+    directory.cd("default_configurations");
 
-static void overrideSettings(QSettings &settings, int argc, char **argv){
+    qDebug() << "Looking for configuration files in:" << directory.absolutePath();
 
-    QMap<QString, QString> settingOptions;
+    QString filename;
+    // check if command line contains a config file name
+    QString commandLine;
+    foreach(QString str, qApp->arguments()) {
+        if (str.contains("configfile")) {
+            commandLine = str.split("=").at(1);
+        }
+    }
+    if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
+        // use file name specified on command line
+        filename = directory.absolutePath() + QDir::separator() + commandLine;
+        qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
+    } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+        // use default file name
+        filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+        qDebug() << "Default configuration file" << filename << "will be loaded.";
+    } else {
+        // TODO should we exit violently?
+        qWarning() << "No default configuration file found!";
+        return;
+    }
+
+    // create settings from file
+    QSettings *qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
+
+    // transfer loaded settings to application settings
+    QStringList keys = qs->allKeys();
+    foreach(QString key, keys) {
+        settings.setValue(key, qs->value(key));
+    }
+
+    // and delete loaded settings
+    delete qs;
+
+    qDebug() << "Configuration file" << filename << "was loaded.";
+}
+
+static void overrideSettings(QSettings &settings, int argc, char **argv)
+{
     // Options like -DMy/setting=test
     QRegExp rx("([^=]+)=(.*)");
 
-    for(int i = 0; i < argc; ++i ){
-        if ( QString(CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
-            if ( rx.indexIn(argv[++i]) > -1 ){
+    QMap<QString, QString> settingOptions;
+    for (int i = 0; i < argc; ++i) {
+        if (QString(CONFIG_OPTION).compare(QString(argv[i])) == 0) {
+            if (rx.indexIn(argv[++i]) > -1) {
                 settingOptions.insert(rx.cap(1), rx.cap(2));
             }
         }
-        if ( QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
+        if (QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0) {
             settings.clear();
         }
     }
 
     QList<QString> keys = settingOptions.keys();
-    foreach ( QString key, keys ){
+    foreach (QString key, keys) {
         settings.setValue(key, settingOptions.value(key));
     }
     settings.sync();
 }
 
+#ifdef Q_OS_MAC
+#  define SHARE_PATH "/../Resources"
+#else
+#  define SHARE_PATH "/../share/openpilotgcs"
+#endif
+
 int main(int argc, char **argv)
 {
     QElapsedTimer timer;
@@ -250,42 +304,52 @@ int main(int argc, char **argv)
     QApplication::setAttribute(Qt::AA_X11InitThreads, true);
 #endif
 
-    //Set the default locale to EN, if this is not set the system locale will be used
-    //and as of now we dont want that behaviour.
+    // Set the default locale to EN, if this is not set the system locale will be used
+    // and as of now we dont want that behaviour.
     QLocale::setDefault(QLocale::English);
 
     SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
 
-    //Open Splashscreen
+    // Open splash screen
     GCSSplashScreen splash;
     splash.show();
 
-    QString locale = QLocale::system().name();
-
     // Must be done before any QSettings class is created
     QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
-            QCoreApplication::applicationDirPath()+QLatin1String(SHARE_PATH));
+            QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH));
     // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
-    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
-                                 QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS_config"));
+    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, QLatin1String("OpenPilot"),
+            QLatin1String("OpenPilotGCS_config"));
 
+    if (!settings.allKeys().count()) {
+        qDebug() << "No user setting, loading factory defaults.";
+        // no user settings, so try to load some default ones
+        loadFactorySettings(settings);
+    }
+
+    // override setting with command line provided settings
     overrideSettings(settings, argc, argv);
-    locale = settings.value("General/OverrideLanguage", locale).toString();
+
+    QString locale = QLocale::system().name();
+    qDebug() << "main - system locale:" << locale;
+
+    QString language = QLocale::system().name();
+    language = settings.value("General/OverrideLanguage", language).toString();
+    qDebug() << "main - language:" << language;
 
     QTranslator translator;
-    QTranslator qtTranslator;
-
-    const QString &creatorTrPath = QCoreApplication::applicationDirPath()
-                                   + QLatin1String(SHARE_PATH "/translations");
-    if (translator.load(QLatin1String("openpilotgcs_") + locale, creatorTrPath)) {
+    const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH "/translations");
+    if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
         const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
-        const QString &qtTrFile = QLatin1String("qt_") + locale;
+        const QString &qtTrFile = QLatin1String("qt_") + language;
         // Binary installer puts Qt tr files into creatorTrPath
+        QTranslator qtTranslator;
         if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
             QCoreApplication::installTranslator(&translator);
             QCoreApplication::installTranslator(&qtTranslator);
         } else {
-            translator.load(QString()); // unload()
+            // unload()
+            translator.load(QString());
         }
     }
     app.setProperty("qtc_locale", locale); // Do we need this?
@@ -313,10 +377,7 @@ int main(int argc, char **argv)
         appOptions.insert(QLatin1String(CLEAN_CONFIG_OPTION), false);
         appOptions.insert(QLatin1String(EXIT_AFTER_CONFIG_OPTION), false);
         QString errorMessage;
-        if (!pluginManager.parseOptions(arguments,
-                                        appOptions,
-                                        &foundAppOptions,
-                                        &errorMessage)) {
+        if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
             displayError(errorMessage);
             printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
             return -1;
@@ -331,9 +392,10 @@ int main(int argc, char **argv)
             break;
         }
     }
-    if(!coreplugin){
+    if (!coreplugin) {
         QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
-        const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(nativePaths);
+        const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(
+                nativePaths);
         displayError(msgCoreLoadFailure(reason));
         return 1;
     }
@@ -356,8 +418,9 @@ int main(int argc, char **argv)
         return 0;
     }
     const bool isFirstInstance = !app.isRunning();
-    if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
+    if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION))) {
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
+    }
 
     QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
                      &splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
@@ -396,11 +459,11 @@ int main(int argc, char **argv)
     splash.showProgressMessage(QObject::tr("Application started."));
     QTimer::singleShot(1500, &splash, SLOT(close()));
 
-    qDebug() << "main() took" << timer.elapsed() << "ms";
+    qDebug() << "main - main took" << timer.elapsed() << "ms";
 
     int ret = app.exec();
 
-    qDebug() << "GCS ran for" << timer.elapsed() << "ms";
+    qDebug() << "main - GCS ran for" << timer.elapsed() << "ms";
 
     return ret;
 }
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index c955fd7e3..86176c9b2 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -85,14 +85,12 @@
 #include <QtGui/QMessageBox>
 #include <QDesktopServices>
 #include <QElapsedTimer>
-#include "dialogs/importsettings.h"
 #include <QDir>
 
 using namespace Core;
 using namespace Core::Internal;
 
 static const char *uriListMimeFormatC = "text/uri-list";
-static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
 enum { debugMainWindow = 0 };
 
@@ -269,66 +267,9 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 void MainWindow::extensionsInitialized()
 {
     QSettings *qs = m_settings;
-    if (!qs->allKeys().count()) {
-        // no user settings, so try to load some default ones
-        QDir directory(QCoreApplication::applicationDirPath());
-#ifdef Q_OS_MAC
-        directory.cdUp();
-        directory.cd("Resources");
-#else
-        directory.cdUp();
-        directory.cd("share");
-        directory.cd("openpilotgcs");
-#endif
-        directory.cd("default_configurations");
-
-        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
-
-        QString filename;
-        // check if command line contains a config file name
-        QString commandLine;
-        foreach(QString str, qApp->arguments()) {
-            if (str.contains("configfile")) {
-                commandLine = str.split("=").at(1);
-            }
-        }
-        if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
-            // use file name specified on command line
-            filename = directory.absolutePath() + QDir::separator() + commandLine;
-            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
-        } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
-            // use default file name
-            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
-            qDebug() << "Default configuration file" << filename << "will be loaded.";
-        } else {
-            // prompt user for default file name
-            qDebug() << "Default configuration file" << directory.absolutePath() << QDir::separator()
-                    << DEFAULT_CONFIG_FILENAME << "was not found.";
-            importSettings *dialog = new importSettings(this);
-            dialog->loadFiles(directory.absolutePath());
-            dialog->exec();
-            filename = dialog->choosenConfig();
-            delete dialog;
-            qDebug() << "Configuration file" << filename << "was selected and will be loaded.";
-        }
-
-        // create settings from file
-        qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-
-        // transfer loaded settings to application settings
-        QStringList keys = qs->allKeys();
-        foreach(QString key, keys) {
-            m_settings->setValue(key, qs->value(key));
-        }
-
-        // and delete loaded settings
-        delete qs;
-        qs = m_settings;
-
-        qDebug() << "Configuration file" << filename << "was loaded.";
-    }
 
     qs->beginGroup("General");
+
     m_config_description = qs->value("Description", "none").toString();
     m_config_details = qs->value("Details", "none").toString();
     m_config_stylesheet = qs->value("StyleSheet", "none").toString();

From f6c94687fc34c2d0c60a6ff72540ac35b099921f Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sun, 7 Apr 2013 22:28:13 +0200
Subject: [PATCH 027/125] OP-879 removed now unused importsettings dialog

---
 .../src/plugins/coreplugin/coreplugin.pro     | 19 +++--
 .../coreplugin/dialogs/importsettings.cpp     | 57 -------------
 .../coreplugin/dialogs/importsettings.h       | 35 --------
 .../coreplugin/dialogs/importsettings.ui      | 82 -------------------
 4 files changed, 13 insertions(+), 180 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
 delete mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
index 90ded4b4f..78f3c9f6b 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
@@ -1,22 +1,27 @@
 TEMPLATE = lib
 TARGET = Core
 DEFINES += CORE_LIBRARY
+
 QT += declarative \
     xml \
     network \
     script \
     svg \
     sql 
+
 include(../../openpilotgcsplugin.pri)
 include(../../libs/utils/utils.pri)
 include(../../shared/scriptwrapper/scriptwrapper.pri)
 include(coreplugin_dependencies.pri)
+
 INCLUDEPATH += dialogs \
     uavgadgetmanager \
     actionmanager
+
 DEPENDPATH += dialogs \
     uavgadgetmanager \
     actionmanager
+
 SOURCES += mainwindow.cpp \
     tabpositionindicator.cpp \
     fancyactionbar.cpp \
@@ -64,8 +69,8 @@ SOURCES += mainwindow.cpp \
     workspacesettings.cpp \
     uavconfiginfo.cpp \
     authorsdialog.cpp \
-    telemetrymonitorwidget.cpp \
-    dialogs/importsettings.cpp
+    telemetrymonitorwidget.cpp
+
 HEADERS += mainwindow.h \
     tabpositionindicator.h \
     fancyactionbar.h \
@@ -126,20 +131,22 @@ HEADERS += mainwindow.h \
     uavconfiginfo.h \
     authorsdialog.h \
     iconfigurableplugin.h \
-    telemetrymonitorwidget.h \
-    dialogs/importsettings.h
+    telemetrymonitorwidget.h
+
 FORMS += dialogs/settingsdialog.ui \
     dialogs/shortcutsettings.ui \
     generalsettings.ui \
     uavgadgetoptionspage.ui \
-    workspacesettings.ui \
-    dialogs/importsettings.ui
+    workspacesettings.ui
+
 RESOURCES += core.qrc \
     fancyactionbar.qrc
+
 unix:!macx { 
     images.files = images/openpilot_logo_*.png
     images.files = images/qtcreator_logo_*.png
     images.path = /share/pixmaps
     INSTALLS += images
 }
+
 OTHER_FILES += Core.pluginspec
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
deleted file mode 100644
index 715b95e88..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "importsettings.h"
-#include "ui_importsettings.h"
-#include <QDir>
-#include <QSettings>
-#include <utils/xmlconfig.h>
-#include <QTimer>
-
-importSettings::importSettings(QWidget *parent) :
-    QDialog(parent),
-    ui(new Ui::importSettings)
-{
-    ui->setupUi(this);
-    connect(ui->cbConfigs, SIGNAL(currentIndexChanged(int)), this, SLOT(updateDetails(int)));
-    connect(ui->btnLoad, SIGNAL(clicked()), this, SLOT(accept()));
-    QTimer::singleShot(500, this, SLOT(repaint()));
-}
-
-void importSettings::loadFiles(QString path)
-{
-    QDir myDir(path);
-    QStringList filters;
-    filters << "*.xml";
-    QStringList list = myDir.entryList(filters,QDir::Files);
-    int x = 0;
-    foreach(QString fileStr, list) {
-        fileInfo *info = new fileInfo;
-        QSettings settings(path+QDir::separator() + fileStr, XmlConfig::XmlSettingsFormat);
-        settings.beginGroup("General");
-        info->description = settings.value("Description", "None").toString();
-        info->details = settings.value("Details", "None").toString();
-        settings.endGroup();
-        info->file = path + QDir::separator() + fileStr;
-        configList.insert(x,info);
-        ui->cbConfigs->addItem(info->description, x);
-        ++x;
-    }
-}
-
-void importSettings::updateDetails(int index)
-{
-    fileInfo *info = configList.value(ui->cbConfigs->itemData(index).toInt());
-    ui->lblDetails->setText(info->details);
-}
-
-QString importSettings::choosenConfig()
-{
-    fileInfo *info = configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
-    return info->file;
-}
-
-importSettings::~importSettings()
-{
-    foreach(fileInfo * info,configList.values()) {
-        delete info;
-    }
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
deleted file mode 100644
index 8bf5f303f..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
+++ /dev/null
@@ -1,35 +0,0 @@
-
-#ifndef IMPORTSETTINGS_H
-#define IMPORTSETTINGS_H
-
-#include <QDialog>
-#include <QMap>
-namespace Ui {
-class importSettings;
-}
-
-class importSettings : public QDialog
-{
-    Q_OBJECT
-    struct fileInfo {
-        QString file;
-        QString description;
-        QString details;
-    };
-
-public:
-    explicit importSettings(QWidget *parent = 0);
-    ~importSettings();
-    
-    void loadFiles(QString path);
-    QString choosenConfig();
-
-private:
-    Ui::importSettings *ui;
-    QMap<int,fileInfo*> configList;
-
-private slots:
-    void updateDetails(int);
-};
-
-#endif // IMPORTSETTINGS_H
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui
deleted file mode 100644
index 439c19207..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui
+++ /dev/null
@@ -1,82 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>importSettings</class>
- <widget class="QDialog" name="importSettings">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>373</width>
-    <height>167</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>OpenPilotGCS</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>No configuration file could be found.
-Please choose from one of the default configurations</string>
-     </property>
-     <property name="scaledContents">
-      <bool>false</bool>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="cbConfigs"/>
-   </item>
-   <item>
-    <widget class="QLabel" name="lblDetails">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="btnLoad">
-       <property name="text">
-        <string>Load</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

From 50e66d6ee32b6833dece4a16055e6c80aa4910ed Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sun, 7 Apr 2013 23:04:40 +0200
Subject: [PATCH 028/125] OP-769 initial cleanups related to language setting

---
 .../plugins/coreplugin/generalsettings.cpp    | 60 ++++++++++---------
 .../src/plugins/coreplugin/generalsettings.h  |  1 +
 2 files changed, 34 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
index 39a656de2..016004bc6 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
@@ -45,11 +45,11 @@ using namespace Core::Internal;
 
 GeneralSettings::GeneralSettings():
     m_saveSettingsOnExit(true),
-    m_dialog(0),
     m_autoConnect(true),
     m_autoSelect(true),
     m_useUDPMirror(false),
-    m_useExpertMode(false)
+    m_useExpertMode(false),
+    m_dialog(0)
 {
 }
 
@@ -88,23 +88,23 @@ void GeneralSettings::fillLanguageBox() const
     m_page->languageBox->addItem(tr("<System Language>"), QString());
     // need to add this explicitly, since there is no qm file for English
     m_page->languageBox->addItem(QLatin1String("English"), QLatin1String("C"));
-    if (currentLocale == QLatin1String("C"))
+    if (currentLocale == QLatin1String("C")) {
         m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
+    }
 
-    const QString creatorTrPath =
-            Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
+    const QString creatorTrPath = Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
     const QStringList languageFiles = QDir(creatorTrPath).entryList(QStringList(QLatin1String("openpilotgcs*.qm")));
 
-    Q_FOREACH(const QString &languageFile, languageFiles)
-    {
-        int start = languageFile.indexOf(QLatin1Char('_'))+1;
+    foreach(QString languageFile, languageFiles) {
+        int start = languageFile.indexOf(QLatin1Char('_')) + 1;
         int end = languageFile.lastIndexOf(QLatin1Char('.'));
-        const QString locale = languageFile.mid(start, end-start);
+        const QString locale = languageFile.mid(start, end - start);
         // no need to show a language that creator will not load anyway
         if (hasQmFilesForLocale(locale, creatorTrPath)) {
             m_page->languageBox->addItem(QLocale::languageToString(QLocale(locale).language()), locale);
-            if (locale == currentLocale)
+            if (locale == currentLocale) {
                 m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
+            }
         }
     }
 }
@@ -114,8 +114,11 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page = new Ui::GeneralSettings();
     QWidget *w = new QWidget(parent);
     m_page->setupUi(w);
+
     fillLanguageBox();
-    connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
+
+    connect(m_page->checkAutoConnect, SIGNAL(stateChanged(int)), this, SLOT(slotAutoConnect(int)));
+
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
@@ -123,8 +126,7 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->cbExpertMode->setChecked(m_useExpertMode);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
-    connect(m_page->resetButton, SIGNAL(clicked()),
-            this, SLOT(resetInterfaceColor()));
+    connect(m_page->resetButton, SIGNAL(clicked()), this, SLOT(resetInterfaceColor()));
 
     return w;
 }
@@ -148,26 +150,28 @@ void GeneralSettings::finish()
     delete m_page;
 }
 
-void GeneralSettings::readSettings(QSettings* qs)
+void GeneralSettings::readSettings(QSettings *qs)
 {
     qs->beginGroup(QLatin1String("General"));
-    m_language = qs->value(QLatin1String("OverrideLanguage"),QLocale::system().name()).toString();
-    m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
-    m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
-    m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
-    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
-    m_useExpertMode = qs->value(QLatin1String("ExpertMode"),m_useExpertMode).toBool();
+    m_language = qs->value(QLatin1String("OverrideLanguage"), QLocale::system().name()).toString();
+    m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit).toBool();
+    m_autoConnect = qs->value(QLatin1String("AutoConnect"), m_autoConnect).toBool();
+    m_autoSelect = qs->value(QLatin1String("AutoSelect"), m_autoSelect).toBool();
+    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"), m_useUDPMirror).toBool();
+    m_useExpertMode = qs->value(QLatin1String("ExpertMode"), m_useExpertMode).toBool();
     qs->endGroup();
 }
 
-void GeneralSettings::saveSettings(QSettings* qs)
+void GeneralSettings::saveSettings(QSettings *qs)
 {
     qs->beginGroup(QLatin1String("General"));
 
-    if (m_language.isEmpty())
+    if (m_language.isEmpty()) {
         qs->remove(QLatin1String("OverrideLanguage"));
-    else
+    }
+    else {
         qs->setValue(QLatin1String("OverrideLanguage"), m_language);
+    }
 
     qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
     qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
@@ -217,8 +221,8 @@ void GeneralSettings::setLanguage(const QString &locale)
 {
     if (m_language != locale) {
         if (!locale.isEmpty()) {
-        QMessageBox::information((QWidget*)Core::ICore::instance()->mainWindow(), tr("Restart required"),
-                                 tr("The language change will take effect after a restart of the OpenPilot GCS."));
+            QMessageBox::information((QWidget*) Core::ICore::instance()->mainWindow(), tr("Restart required"),
+                    tr("The language change will take effect after a restart of the OpenPilot GCS."));
         }
         m_language = locale;
     }
@@ -251,8 +255,10 @@ bool GeneralSettings::useExpertMode() const
 
 void GeneralSettings::slotAutoConnect(int value)
 {
-    if (value==Qt::Checked)
+    if (value==Qt::Checked) {
         m_page->checkAutoSelect->setEnabled(false);
-    else
+    }
+    else {
         m_page->checkAutoSelect->setEnabled(true);
+    }
 }
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index 8bd498fe8..dd585c304 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -85,6 +85,7 @@ private:
     QList<QTextCodec *> m_codecs;
 
 };
+
 } // namespace Internal
 } // namespace Core
 

From 1b8c3ee7bb5152f4cc046acff2b7f06106f943d1 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 8 Apr 2013 01:58:48 +0300
Subject: [PATCH 029/125] OP-897: fix spacing +review OPReview-438

---
 .../src/plugins/config/configinputwidget.cpp  | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 9bce4d777..67083b941 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -125,23 +125,23 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
     m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos1, 0, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos2, 1, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos3, 2, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos4, 3, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos5, 4, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos6, 5, 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModeNumber", m_config->fmsPosNum);
 
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw",1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Roll, "Roll", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Roll, "Roll", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Roll, "Roll", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Pitch, "Pitch", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Pitch, "Pitch", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Pitch, "Pitch", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Yaw, "Yaw", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Yaw, "Yaw", 1, true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Yaw, "Yaw", 1, true);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
     addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);

From 09d2ba1d254e62bc9ff9516fbb620eab289daae8 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 8 Apr 2013 01:09:31 +0200
Subject: [PATCH 030/125] OP-874 merge of
 amorale/OP-874_gcs_rescue_erase_settings in next.

+review OPReview-421
---
 .../PipXtreme => Libraries}/inc/op_dfu.h      | 120 +--
 .../Bootloaders/OSD => Libraries}/op_dfu.c    | 952 +++++++++---------
 flight/PiOS/{STM32F4xx => Common}/pios_iap.c  |  73 +-
 flight/PiOS/STM32F10x/pios_bkp.c              | 149 +++
 flight/PiOS/STM32F10x/pios_iap.c              | 126 ---
 flight/PiOS/STM32F4xx/pios_bkp.c              | 119 +++
 flight/PiOS/STM32F4xx/pios_sys.c              |   2 +-
 flight/PiOS/inc/pios_bkp.h                    | 118 +++
 flight/PiOS/inc/pios_iap.h                    | 127 ++-
 flight/targets/BootloaderUpdater/main.c       |   9 +-
 .../Bootloaders/CopterControl/inc/op_dfu.h    |  60 --
 .../Bootloaders/CopterControl/op_dfu.c        | 467 ---------
 flight/targets/Bootloaders/OSD/inc/op_dfu.h   |  60 --
 flight/targets/Bootloaders/PipXtreme/op_dfu.c | 467 ---------
 .../targets/Bootloaders/RevoMini/inc/op_dfu.h |  60 --
 flight/targets/Bootloaders/RevoMini/op_dfu.c  | 468 ---------
 .../Bootloaders/Revolution/inc/op_dfu.h       |  60 --
 .../targets/Bootloaders/Revolution/op_dfu.c   | 468 ---------
 .../targets/CopterControl/System/pios_board.c |  16 +-
 flight/targets/PipXtreme/System/pios_board.c  |  20 +-
 flight/targets/RevoMini/System/pios_board.c   |  24 +-
 flight/targets/Revolution/System/pios_board.c |  23 +-
 .../src/plugins/uploader/op_dfu.cpp           |  36 +-
 .../src/plugins/uploader/op_dfu.h             |   4 +-
 .../src/plugins/uploader/uploader.ui          |  38 +-
 .../plugins/uploader/uploadergadgetwidget.cpp |  65 +-
 .../plugins/uploader/uploadergadgetwidget.h   |   4 +-
 make/apps-defs.mk                             |   1 +
 make/boards/coptercontrol/board-info.mk       |   2 +-
 make/boards/osd/board-info.mk                 |   2 +-
 make/boards/pipxtreme/board-info.mk           |   2 +-
 make/boards/revolution/board-info.mk          |   2 +-
 make/boards/revomini/board-info.mk            |   2 +-
 make/boot-defs.mk                             |   3 +-
 34 files changed, 1248 insertions(+), 2901 deletions(-)
 rename flight/{targets/Bootloaders/PipXtreme => Libraries}/inc/op_dfu.h (97%)
 rename flight/{targets/Bootloaders/OSD => Libraries}/op_dfu.c (95%)
 rename flight/PiOS/{STM32F4xx => Common}/pios_iap.c (74%)
 create mode 100644 flight/PiOS/STM32F10x/pios_bkp.c
 delete mode 100644 flight/PiOS/STM32F10x/pios_iap.c
 create mode 100644 flight/PiOS/STM32F4xx/pios_bkp.c
 create mode 100644 flight/PiOS/inc/pios_bkp.h
 delete mode 100644 flight/targets/Bootloaders/CopterControl/inc/op_dfu.h
 delete mode 100644 flight/targets/Bootloaders/CopterControl/op_dfu.c
 delete mode 100644 flight/targets/Bootloaders/OSD/inc/op_dfu.h
 delete mode 100644 flight/targets/Bootloaders/PipXtreme/op_dfu.c
 delete mode 100644 flight/targets/Bootloaders/RevoMini/inc/op_dfu.h
 delete mode 100644 flight/targets/Bootloaders/RevoMini/op_dfu.c
 delete mode 100644 flight/targets/Bootloaders/Revolution/inc/op_dfu.h
 delete mode 100644 flight/targets/Bootloaders/Revolution/op_dfu.c

diff --git a/flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h b/flight/Libraries/inc/op_dfu.h
similarity index 97%
rename from flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h
rename to flight/Libraries/inc/op_dfu.h
index e031c3364..262852fc4 100644
--- a/flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h
+++ b/flight/Libraries/inc/op_dfu.h
@@ -1,60 +1,60 @@
-/**
- ******************************************************************************
- *
- * @file       op_dfu.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __OP_DFU_H
-#define __OP_DFU_H
-#include "common.h"
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef struct {
-	uint8_t programmingType;
-	uint8_t readWriteFlags;
-	uint32_t startOfUserCode;
-	uint32_t sizeOfCode;
-	uint8_t sizeOfDescription;
-	uint8_t BL_Version;
-	uint16_t devID;
-	DeviceType devType;
-	uint32_t FW_Crc;
-} Device;
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define COMMAND	0
-#define COUNT	1
-#define DATA	5
-
-/* Exported functions ------------------------------------------------------- */
-void processComand(uint8_t *Receive_Buffer);
-uint32_t baseOfAdressType(uint8_t type);
-uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
-void OPDfuIni(uint8_t discover);
-void DataDownload(DownloadAction);
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
-#endif /* __OP_DFU_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
+/**
+ ******************************************************************************
+ *
+ * @file       op_dfu.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __OP_DFU_H
+#define __OP_DFU_H
+#include "common.h"
+/* Includes ------------------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+	uint8_t programmingType;
+	uint8_t readWriteFlags;
+	uint32_t startOfUserCode;
+	uint32_t sizeOfCode;
+	uint8_t sizeOfDescription;
+	uint8_t BL_Version;
+	uint16_t devID;
+	DeviceType devType;
+	uint32_t FW_Crc;
+} Device;
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported define -----------------------------------------------------------*/
+#define COMMAND	0
+#define COUNT	1
+#define DATA	5
+
+/* Exported functions ------------------------------------------------------- */
+void processComand(uint8_t *Receive_Buffer);
+uint32_t baseOfAdressType(uint8_t type);
+uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
+void OPDfuIni(uint8_t discover);
+void DataDownload(DownloadAction);
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
+#endif /* __OP_DFU_H */
+
+/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
diff --git a/flight/targets/Bootloaders/OSD/op_dfu.c b/flight/Libraries/op_dfu.c
similarity index 95%
rename from flight/targets/Bootloaders/OSD/op_dfu.c
rename to flight/Libraries/op_dfu.c
index 3aceedcfb..60fe8fe86 100644
--- a/flight/targets/Bootloaders/OSD/op_dfu.c
+++ b/flight/Libraries/op_dfu.c
@@ -1,468 +1,484 @@
-/**
- ******************************************************************************
- * @addtogroup CopterControlBL CopterControl BootLoader
- * @brief These files contain the code to the CopterControl Bootloader.
- *
- * @{
- * @file       op_dfu.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      This file contains the DFU commands handling code
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
-#include <pios_board_info.h>
-//programmable devices
-Device devicesTable[10];
-uint8_t numberOfDevices = 0;
-
-DFUProgType currentProgrammingDestination; //flash, flash_trough spi
-uint8_t currentDeviceCanRead;
-uint8_t currentDeviceCanWrite;
-Device currentDevice;
-
-uint8_t Buffer[64];
-uint8_t echoBuffer[64];
-uint8_t SendBuffer[64];
-uint8_t Command = 0;
-uint8_t EchoReqFlag = 0;
-uint8_t EchoAnsFlag = 0;
-uint8_t StartFlag = 0;
-uint32_t Aditionals = 0;
-uint32_t SizeOfTransfer = 0;
-uint32_t Expected_CRC = 0;
-uint8_t SizeOfLastPacket = 0;
-uint32_t Next_Packet = 0;
-uint8_t TransferType;
-uint32_t Count = 0;
-uint32_t Data;
-uint8_t Data0;
-uint8_t Data1;
-uint8_t Data2;
-uint8_t Data3;
-uint8_t offset = 0;
-uint32_t aux;
-//Download vars
-uint32_t downSizeOfLastPacket = 0;
-uint32_t downPacketTotal = 0;
-uint32_t downPacketCurrent = 0;
-DFUTransfer downType = 0;
-/* Extern variables ----------------------------------------------------------*/
-extern DFUStates DeviceState;
-extern uint8_t JumpToApp;
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf, uint16_t size);
-uint32_t CalcFirmCRC(void);
-
-void DataDownload(DownloadAction action) {
-	if ((DeviceState == downloading)) {
-
-		uint8_t packetSize;
-		uint32_t offset;
-		uint32_t partoffset;
-		SendBuffer[0] = 0x01;
-		SendBuffer[1] = Download;
-		SendBuffer[2] = downPacketCurrent >> 24;
-		SendBuffer[3] = downPacketCurrent >> 16;
-		SendBuffer[4] = downPacketCurrent >> 8;
-		SendBuffer[5] = downPacketCurrent;
-		if (downPacketCurrent == downPacketTotal - 1) {
-			packetSize = downSizeOfLastPacket;
-		} else {
-			packetSize = 14;
-		}
-		for (uint8_t x = 0; x < packetSize; ++x) {
-			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-			offset = baseOfAdressType(downType) + partoffset;
-			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-					currentProgrammingDestination)) {
-				DeviceState = Last_operation_failed;
-			}
-		}
-		downPacketCurrent = downPacketCurrent + 1;
-		if (downPacketCurrent > downPacketTotal - 1) {
-			DeviceState = Last_operation_Success;
-			Aditionals = (uint32_t) Download;
-		}
-		sendData(SendBuffer + 1, 63);
-	}
-}
-void processComand(uint8_t *xReceive_Buffer) {
-
-	Command = xReceive_Buffer[COMMAND];
-#ifdef DEBUG_SSP
-	char str[63]= {0};
-	sprintf(str,"Received COMMAND:%d|",Command);
-	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-	EchoReqFlag = (Command >> 7);
-	EchoAnsFlag = (Command >> 6) & 0x01;
-	StartFlag = (Command >> 5) & 0x01;
-	Count = xReceive_Buffer[COUNT] << 24;
-	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += xReceive_Buffer[COUNT + 3];
-
-	Data = xReceive_Buffer[DATA] << 24;
-	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data += xReceive_Buffer[DATA + 3];
-	Data0 = xReceive_Buffer[DATA];
-	Data1 = xReceive_Buffer[DATA + 1];
-	Data2 = xReceive_Buffer[DATA + 2];
-	Data3 = xReceive_Buffer[DATA + 3];
-	Command = Command & 0b00011111;
-
-	if (EchoReqFlag == 1) {
-		memcpy(echoBuffer, xReceive_Buffer, 64);
-	}
-	switch (Command) {
-	case EnterDFU:
-		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
-				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
-				OPDfuIni(true);
-			DeviceState = DFUidle;
-			currentProgrammingDestination = devicesTable[Data0].programmingType;
-			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
-			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
-					& 0x01;
-			currentDevice = devicesTable[Data0];
-			uint8_t result = 0;
-			switch (currentProgrammingDestination) {
-			case Self_flash:
-				result = PIOS_BL_HELPER_FLASH_Ini();
-				break;
-			case Remote_flash_via_spi:
-				result = true;
-				break;
-			default:
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint16_t) Command;
-			}
-			if (result != 1) {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Upload:
-		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
-			if ((StartFlag == 1) && (Next_Packet == 0)) {
-				TransferType = Data0;
-				SizeOfTransfer = Count;
-				Next_Packet = 1;
-				Expected_CRC = Data2 << 24;
-				Expected_CRC += Data3 << 16;
-				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += xReceive_Buffer[DATA + 5];
-				SizeOfLastPacket = Data1;
-
-				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
-						* 14 * 4 + SizeOfLastPacket * 4) == true) {
-					DeviceState = outsideDevCapabilities;
-					Aditionals = (uint32_t) Command;
-				} else {
-					uint8_t result = 1;
-					if (TransferType == FW) {
-						switch (currentProgrammingDestination) {
-						case Self_flash:
-							result = PIOS_BL_HELPER_FLASH_Start();
-							break;
-						case Remote_flash_via_spi:
-							result = false;
-							break;
-						default:
-							break;
-						}
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					} else {
-
-						DeviceState = uploading;
-					}
-				}
-			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
-				if (Count > SizeOfTransfer) {
-					DeviceState = too_many_packets;
-					Aditionals = Count;
-				} else if (Count == Next_Packet - 1) {
-					uint8_t numberOfWords = 14;
-					if (Count == SizeOfTransfer - 1)//is this the last packet?
-					{
-						numberOfWords = SizeOfLastPacket;
-					}
-					uint8_t result = 0;
-					switch (currentProgrammingDestination) {
-					case Self_flash:
-						for (uint8_t x = 0; x < numberOfWords; ++x) {
-							offset = 4 * x;
-							Data = xReceive_Buffer[DATA + offset] << 24;
-							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-							Data += xReceive_Buffer[DATA + 3 + offset];
-							aux = baseOfAdressType(TransferType) + (uint32_t)(
-									Count * 14 * 4 + x * 4);
-							result = 0;
-							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-								if (result == 0) {
-									result = (FLASH_ProgramWord(aux, Data)
-											== FLASH_COMPLETE) ? 1 : 0;
-								}
-							}
-						}
-						break;
-					case Remote_flash_via_spi:
-						result = false; // No support for this for the PipX
-						break;
-					default:
-						result = 0;
-						break;
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					}
-
-					++Next_Packet;
-				} else {
-					DeviceState = wrong_packet_received;
-					Aditionals = Count;
-				}
-			} else {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Req_Capabilities:
-		OPDfuIni(true);
-		Buffer[0] = 0x01;
-		Buffer[1] = Rep_Capabilities;
-		if (Data0 == 0) {
-			Buffer[2] = 0;
-			Buffer[3] = 0;
-			Buffer[4] = 0;
-			Buffer[5] = 0;
-			Buffer[6] = 0;
-			Buffer[7] = numberOfDevices;
-			uint16_t WRFlags = 0;
-			for (int x = 0; x < numberOfDevices; ++x) {
-				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
-						| WRFlags);
-			}
-			Buffer[8] = WRFlags >> 8;
-			Buffer[9] = WRFlags;
-		} else {
-			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
-			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
-			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
-			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
-			Buffer[6] = Data0;
-			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
-			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
-			Buffer[9] = devicesTable[Data0 - 1].devID;
-			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
-			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
-			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
-			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
-			Buffer[15] = devicesTable[Data0 - 1].devID;
-		}
-		sendData(Buffer + 1, 63);
-		break;
-	case JumpFW:
-		if (Data == 0x5AFE) {
-			/* Force board into safe mode */
-			PIOS_IAP_WriteBootCount(0xFFFF);
-		}
-		FLASH_Lock();
-		JumpToApp = 1;
-		break;
-	case Reset:
-		PIOS_SYS_Reset();
-		break;
-	case Abort_Operation:
-		Next_Packet = 0;
-		DeviceState = DFUidle;
-		break;
-
-	case Op_END:
-		if (DeviceState == uploading) {
-			if (Next_Packet - 1 == SizeOfTransfer) {
-				Next_Packet = 0;
-				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
-					DeviceState = Last_operation_Success;
-				} else {
-					DeviceState = CRC_Fail;
-				}
-			}
-			if (Next_Packet - 1 < SizeOfTransfer) {
-				Next_Packet = 0;
-				DeviceState = too_few_packets;
-			}
-		}
-		break;
-	case Download_Req:
-#ifdef DEBUG_SSP
-		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
-		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-		if (DeviceState == DFUidle) {
-#ifdef DEBUG_SSP
-			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
-#endif
-			downType = Data0;
-			downPacketTotal = Count;
-			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
-					+ downSizeOfLastPacket * 4) == 1) {
-				DeviceState = outsideDevCapabilities;
-				Aditionals = (uint32_t) Command;
-
-			} else {
-				downPacketCurrent = 0;
-				DeviceState = downloading;
-			}
-		} else {
-			DeviceState = Last_operation_failed;
-			Aditionals = (uint32_t) Command;
-		}
-		break;
-
-	case Status_Request:
-		Buffer[0] = 0x01;
-		Buffer[1] = Status_Rep;
-		if (DeviceState == wrong_packet_received) {
-			Buffer[2] = Aditionals >> 24;
-			Buffer[3] = Aditionals >> 16;
-			Buffer[4] = Aditionals >> 8;
-			Buffer[5] = Aditionals;
-		} else {
-			Buffer[2] = 0;
-			Buffer[3] = ((uint16_t) Aditionals) >> 8;
-			Buffer[4] = ((uint16_t) Aditionals);
-			Buffer[5] = 0;
-		}
-		Buffer[6] = DeviceState;
-		Buffer[7] = 0;
-		Buffer[8] = 0;
-		Buffer[9] = 0;
-		sendData(Buffer + 1, 63);
-		if (DeviceState == Last_operation_Success) {
-			DeviceState = DFUidle;
-		}
-		break;
-	case Status_Rep:
-
-		break;
-
-	}
-	if (EchoReqFlag == 1) {
-		echoBuffer[0] = echoBuffer[0] | (1 << 6);
-		sendData(echoBuffer, 63);
-	}
-	return;
-}
-void OPDfuIni(uint8_t discover) {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	Device dev;
-
-	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = bdinfo->bl_rev;
-	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = bdinfo->hw_type;
-	numberOfDevices = 1;
-	devicesTable[0] = dev;
-	if (discover) {
-		//TODO check other devices trough spi or whatever
-	}
-}
-uint32_t baseOfAdressType(DFUTransfer type) {
-	switch (type) {
-	case FW:
-		return currentDevice.startOfUserCode;
-		break;
-	case Descript:
-		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
-		break;
-	default:
-
-		return 0;
-	}
-}
-uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
-	switch (type) {
-	case FW:
-		return (size > currentDevice.sizeOfCode) ? 1 : 0;
-		break;
-	case Descript:
-		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
-		break;
-	default:
-		return true;
-	}
-}
-
-uint32_t CalcFirmCRC() {
-	switch (currentProgrammingDestination) {
-	case Self_flash:
-		return PIOS_BL_HELPER_CRC_Memory_Calc();
-		break;
-	case Remote_flash_via_spi:
-		return 0;
-		break;
-	default:
-		return 0;
-		break;
-	}
-
-}
-void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-}
-
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
-	switch (type) {
-	case Remote_flash_via_spi:
-		return false; // We should not get this for the PipX
-		break;
-	case Self_flash:
-		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
-		}
-		return true;
-		break;
-	default:
-		return false;
-	}
-}
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       op_dfu.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains the DFU commands handling code
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "pios.h"
+#include <stdbool.h>
+#include "op_dfu.h"
+#include "pios_bl_helper.h"
+#include "pios_com_msg.h"
+#include <pios_board_info.h>
+//programmable devices
+Device devicesTable[10];
+uint8_t numberOfDevices = 0;
+
+DFUProgType currentProgrammingDestination; //flash, flash_trough spi
+uint8_t currentDeviceCanRead;
+uint8_t currentDeviceCanWrite;
+Device currentDevice;
+
+uint8_t Buffer[64];
+uint8_t echoBuffer[64];
+uint8_t SendBuffer[64];
+uint8_t Command = 0;
+uint8_t EchoReqFlag = 0;
+uint8_t EchoAnsFlag = 0;
+uint8_t StartFlag = 0;
+uint32_t Aditionals = 0;
+uint32_t SizeOfTransfer = 0;
+uint32_t Expected_CRC = 0;
+uint8_t SizeOfLastPacket = 0;
+uint32_t Next_Packet = 0;
+uint8_t TransferType;
+uint32_t Count = 0;
+uint32_t Data;
+uint8_t Data0;
+uint8_t Data1;
+uint8_t Data2;
+uint8_t Data3;
+uint32_t Opt[3];
+
+uint8_t offset = 0;
+uint32_t aux;
+//Download vars
+uint32_t downSizeOfLastPacket = 0;
+uint32_t downPacketTotal = 0;
+uint32_t downPacketCurrent = 0;
+DFUTransfer downType = 0;
+/* Extern variables ----------------------------------------------------------*/
+extern DFUStates DeviceState;
+extern uint8_t JumpToApp;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+void sendData(uint8_t * buf, uint16_t size);
+uint32_t CalcFirmCRC(void);
+
+void DataDownload(DownloadAction action) {
+	if ((DeviceState == downloading)) {
+
+		uint8_t packetSize;
+		uint32_t offset;
+		uint32_t partoffset;
+		SendBuffer[0] = 0x01;
+		SendBuffer[1] = Download;
+		SendBuffer[2] = downPacketCurrent >> 24;
+		SendBuffer[3] = downPacketCurrent >> 16;
+		SendBuffer[4] = downPacketCurrent >> 8;
+		SendBuffer[5] = downPacketCurrent;
+		if (downPacketCurrent == downPacketTotal - 1) {
+			packetSize = downSizeOfLastPacket;
+		} else {
+			packetSize = 14;
+		}
+		for (uint8_t x = 0; x < packetSize; ++x) {
+			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
+			offset = baseOfAdressType(downType) + partoffset;
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
+					currentProgrammingDestination)) {
+				DeviceState = Last_operation_failed;
+			}
+		}
+		downPacketCurrent = downPacketCurrent + 1;
+		if (downPacketCurrent > downPacketTotal - 1) {
+			DeviceState = Last_operation_Success;
+			Aditionals = (uint32_t) Download;
+		}
+		sendData(SendBuffer + 1, 63);
+	}
+}
+void processComand(uint8_t *xReceive_Buffer) {
+
+	Command = xReceive_Buffer[COMMAND];
+#ifdef DEBUG_SSP
+	char str[63]= {0};
+	sprintf(str,"Received COMMAND:%d|",Command);
+	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+	EchoReqFlag = (Command >> 7);
+	EchoAnsFlag = (Command >> 6) & 0x01;
+	StartFlag = (Command >> 5) & 0x01;
+	Count = xReceive_Buffer[COUNT] << 24;
+	Count += xReceive_Buffer[COUNT + 1] << 16;
+	Count += xReceive_Buffer[COUNT + 2] << 8;
+	Count += xReceive_Buffer[COUNT + 3];
+
+	Data = xReceive_Buffer[DATA] << 24;
+	Data += xReceive_Buffer[DATA + 1] << 16;
+	Data += xReceive_Buffer[DATA + 2] << 8;
+	Data += xReceive_Buffer[DATA + 3];
+	Data0 = xReceive_Buffer[DATA];
+	Data1 = xReceive_Buffer[DATA + 1];
+	Data2 = xReceive_Buffer[DATA + 2];
+	Data3 = xReceive_Buffer[DATA + 3];
+	for( uint32_t i=0; i < 3; i++ )
+	{
+		Opt[i] = xReceive_Buffer[DATA + 4 * (i+1) ] << 24 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 1] << 16 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 2] << 8 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 3];	
+	}
+	
+	Command = Command & 0b00011111;
+
+	if (EchoReqFlag == 1) {
+		memcpy(echoBuffer, xReceive_Buffer, 64);
+	}
+	switch (Command) {
+	case EnterDFU:
+		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
+				|| (DeviceState == DFUidle)) {
+			if (Data0 > 0)
+				OPDfuIni(true);
+			DeviceState = DFUidle;
+			currentProgrammingDestination = devicesTable[Data0].programmingType;
+			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
+			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
+					& 0x01;
+			currentDevice = devicesTable[Data0];
+			uint8_t result = 0;
+			switch (currentProgrammingDestination) {
+			case Self_flash:
+				result = PIOS_BL_HELPER_FLASH_Ini();
+				break;
+			case Remote_flash_via_spi:
+				result = true;
+				break;
+			default:
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint16_t) Command;
+			}
+			if (result != 1) {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Upload:
+		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
+			if ((StartFlag == 1) && (Next_Packet == 0)) {
+				TransferType = Data0;
+				SizeOfTransfer = Count;
+				Next_Packet = 1;
+				Expected_CRC = Data2 << 24;
+				Expected_CRC += Data3 << 16;
+				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
+				Expected_CRC += xReceive_Buffer[DATA + 5];
+				SizeOfLastPacket = Data1;
+
+				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
+						* 14 * 4 + SizeOfLastPacket * 4) == true) {
+					DeviceState = outsideDevCapabilities;
+					Aditionals = (uint32_t) Command;
+				} else {
+					uint8_t result = 1;
+					if (TransferType == FW) {
+						switch (currentProgrammingDestination) {
+						case Self_flash:
+							result = PIOS_BL_HELPER_FLASH_Start();
+							break;
+						case Remote_flash_via_spi:
+							result = false;
+							break;
+						default:
+							break;
+						}
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					} else {
+
+						DeviceState = uploading;
+					}
+				}
+			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
+				if (Count > SizeOfTransfer) {
+					DeviceState = too_many_packets;
+					Aditionals = Count;
+				} else if (Count == Next_Packet - 1) {
+					uint8_t numberOfWords = 14;
+					if (Count == SizeOfTransfer - 1)//is this the last packet?
+					{
+						numberOfWords = SizeOfLastPacket;
+					}
+					uint8_t result = 0;
+					switch (currentProgrammingDestination) {
+					case Self_flash:
+						for (uint8_t x = 0; x < numberOfWords; ++x) {
+							offset = 4 * x;
+							Data = xReceive_Buffer[DATA + offset] << 24;
+							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
+							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
+							Data += xReceive_Buffer[DATA + 3 + offset];
+							aux = baseOfAdressType(TransferType) + (uint32_t)(
+									Count * 14 * 4 + x * 4);
+							result = 0;
+							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
+								if (result == 0) {
+									result = (FLASH_ProgramWord(aux, Data)
+											== FLASH_COMPLETE) ? 1 : 0;
+								}
+							}
+						}
+						break;
+					case Remote_flash_via_spi:
+						result = false; // No support for this for the PipX
+						break;
+					default:
+						result = 0;
+						break;
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					}
+
+					++Next_Packet;
+				} else {
+					DeviceState = wrong_packet_received;
+					Aditionals = Count;
+				}
+			} else {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Req_Capabilities:
+		OPDfuIni(true);
+		Buffer[0] = 0x01;
+		Buffer[1] = Rep_Capabilities;
+		if (Data0 == 0) {
+			Buffer[2] = 0;
+			Buffer[3] = 0;
+			Buffer[4] = 0;
+			Buffer[5] = 0;
+			Buffer[6] = 0;
+			Buffer[7] = numberOfDevices;
+			uint16_t WRFlags = 0;
+			for (int x = 0; x < numberOfDevices; ++x) {
+				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
+						| WRFlags);
+			}
+			Buffer[8] = WRFlags >> 8;
+			Buffer[9] = WRFlags;
+		} else {
+			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
+			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
+			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
+			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
+			Buffer[6] = Data0;
+			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
+			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
+			Buffer[9] = devicesTable[Data0 - 1].devID;
+			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
+			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
+			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
+			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
+			Buffer[15] = devicesTable[Data0 - 1].devID;
+		}
+		sendData(Buffer + 1, 63);
+		break;
+	case JumpFW:
+		if (Data == 0x5AFE) 
+		{
+			/* Force board into safe mode */
+			PIOS_IAP_WriteBootCount(0xFFFF);
+		}
+		// pass any Opt value to the firmware
+		PIOS_IAP_WriteBootCmd(0, Opt[0]);
+		PIOS_IAP_WriteBootCmd(1, Opt[1]);
+		PIOS_IAP_WriteBootCmd(2, Opt[2]);
+
+		FLASH_Lock();
+		JumpToApp = 1;
+		break;
+	case Reset:
+		PIOS_SYS_Reset();
+		break;
+	case Abort_Operation:
+		Next_Packet = 0;
+		DeviceState = DFUidle;
+		break;
+
+	case Op_END:
+		if (DeviceState == uploading) {
+			if (Next_Packet - 1 == SizeOfTransfer) {
+				Next_Packet = 0;
+				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
+					DeviceState = Last_operation_Success;
+				} else {
+					DeviceState = CRC_Fail;
+				}
+			}
+			if (Next_Packet - 1 < SizeOfTransfer) {
+				Next_Packet = 0;
+				DeviceState = too_few_packets;
+			}
+		}
+		break;
+	case Download_Req:
+#ifdef DEBUG_SSP
+		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
+		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+		if (DeviceState == DFUidle) {
+#ifdef DEBUG_SSP
+			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
+#endif
+			downType = Data0;
+			downPacketTotal = Count;
+			downSizeOfLastPacket = Data1;
+			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
+					+ downSizeOfLastPacket) == 1) {
+				DeviceState = outsideDevCapabilities;
+				Aditionals = (uint32_t) Command;
+
+			} else {
+				downPacketCurrent = 0;
+				DeviceState = downloading;
+			}
+		} else {
+			DeviceState = Last_operation_failed;
+			Aditionals = (uint32_t) Command;
+		}
+		break;
+
+	case Status_Request:
+		Buffer[0] = 0x01;
+		Buffer[1] = Status_Rep;
+		if (DeviceState == wrong_packet_received) {
+			Buffer[2] = Aditionals >> 24;
+			Buffer[3] = Aditionals >> 16;
+			Buffer[4] = Aditionals >> 8;
+			Buffer[5] = Aditionals;
+		} else {
+			Buffer[2] = 0;
+			Buffer[3] = ((uint16_t) Aditionals) >> 8;
+			Buffer[4] = ((uint16_t) Aditionals);
+			Buffer[5] = 0;
+		}
+		Buffer[6] = DeviceState;
+		Buffer[7] = 0;
+		Buffer[8] = 0;
+		Buffer[9] = 0;
+		sendData(Buffer + 1, 63);
+		if (DeviceState == Last_operation_Success) {
+			DeviceState = DFUidle;
+		}
+		break;
+	case Status_Rep:
+
+		break;
+
+	}
+	if (EchoReqFlag == 1) {
+		echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
+		sendData(echoBuffer + 1, 63);
+	}
+	return;
+}
+void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+	Device dev;
+
+	dev.programmingType = Self_flash;
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
+	dev.startOfUserCode = bdinfo->fw_base;
+	dev.sizeOfCode = bdinfo->fw_size;
+	dev.sizeOfDescription = bdinfo->desc_size;
+	dev.BL_Version = bdinfo->bl_rev;
+	dev.FW_Crc = CalcFirmCRC();
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
+	numberOfDevices = 1;
+	devicesTable[0] = dev;
+	if (discover) {
+		//TODO check other devices trough spi or whatever
+	}
+}
+uint32_t baseOfAdressType(DFUTransfer type) {
+	switch (type) {
+	case FW:
+		return currentDevice.startOfUserCode;
+		break;
+	case Descript:
+		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
+		break;
+	default:
+
+		return 0;
+	}
+}
+uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
+	switch (type) {
+	case FW:
+		return (size > currentDevice.sizeOfCode) ? 1 : 0;
+		break;
+	case Descript:
+		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
+		break;
+	default:
+		return true;
+	}
+}
+
+uint32_t CalcFirmCRC() {
+	switch (currentProgrammingDestination) {
+	case Self_flash:
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
+		break;
+	case Remote_flash_via_spi:
+		return 0;
+		break;
+	default:
+		return 0;
+		break;
+	}
+
+}
+void sendData(uint8_t * buf, uint16_t size) {
+	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
+}
+
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
+	switch (type) {
+	case Remote_flash_via_spi:
+		return false; // We should not get this for the PipX
+		break;
+	case Self_flash:
+		for (uint8_t x = 0; x < 4; ++x) {
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
+		}
+		return true;
+		break;
+	default:
+		return false;
+	}
+}
diff --git a/flight/PiOS/STM32F4xx/pios_iap.c b/flight/PiOS/Common/pios_iap.c
similarity index 74%
rename from flight/PiOS/STM32F4xx/pios_iap.c
rename to flight/PiOS/Common/pios_iap.c
index e08ccd09a..77a18b00c 100644
--- a/flight/PiOS/STM32F4xx/pios_iap.c
+++ b/flight/PiOS/Common/pios_iap.c
@@ -3,7 +3,7 @@
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
  * @addtogroup   PIOS_IAP IAP Functions
- * @brief STM32F4xx Hardware dependent I2C functionality
+ * @brief Common IAP functionality
  * @{
  *
  * @file       pios_iap.c  
@@ -32,6 +32,7 @@
  *  Header files
  ****************************************************************************************/
 #include <pios.h>
+#include <pios_bkp.h>
 
 #ifdef PIOS_INCLUDE_IAP
 
@@ -55,7 +56,12 @@
 /****************************************************************************************
  *  Private (static) Data
  ****************************************************************************************/
-
+const uint16_t pios_iap_cmd_list[] = 
+	{ 
+		IAP_CMD1, 
+		IAP_CMD2, 
+		IAP_CMD3
+	};
 /****************************************************************************************
  *  Public/Global Data
  ****************************************************************************************/
@@ -70,17 +76,8 @@
  */
 void PIOS_IAP_Init( void )
 {
-	/* Enable CRC clock */
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
-
-	/* Enable PWR and BKP clock */
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_AHB1Periph_BKPSRAM, ENABLE);
-
-	/* Enable write access to Backup domain */
-	PWR_BackupAccessCmd(ENABLE);
-
-	/* Clear Tamper pin Event(TE) pending flag */
-	RTC_ClearFlag(RTC_FLAG_TAMP1F);
+	PIOS_BKP_Init();
+	PIOS_BKP_EnableWrite();
 }
 
 /*!
@@ -97,8 +94,8 @@ uint32_t	PIOS_IAP_CheckRequest( void )
 	uint16_t	reg1;
 	uint16_t	reg2;
 
-	reg1 = RTC_ReadBackupRegister( MAGIC_REG_1 );
-	reg2 = RTC_ReadBackupRegister( MAGIC_REG_2 );
+	reg1 = PIOS_BKP_ReadRegister(MAGIC_REG_1);
+	reg2 = PIOS_BKP_ReadRegister(MAGIC_REG_2);
 
 	if( reg1 == IAP_MAGIC_WORD_1 && reg2 == IAP_MAGIC_WORD_2 ) {
 		// We have a match.
@@ -119,28 +116,62 @@ uint32_t	PIOS_IAP_CheckRequest( void )
  */
 void	PIOS_IAP_SetRequest1(void)
 {
-	RTC_WriteBackupRegister( MAGIC_REG_1, IAP_MAGIC_WORD_1);
+	PIOS_BKP_WriteRegister(MAGIC_REG_1, IAP_MAGIC_WORD_1);
 }
 
 void	PIOS_IAP_SetRequest2(void)
 {
-	RTC_WriteBackupRegister( MAGIC_REG_2, IAP_MAGIC_WORD_2);
+	PIOS_BKP_WriteRegister(MAGIC_REG_2, IAP_MAGIC_WORD_2);
 }
 
 void	PIOS_IAP_ClearRequest(void)
 {
-	RTC_WriteBackupRegister( MAGIC_REG_1, 0);
-	RTC_WriteBackupRegister( MAGIC_REG_2, 0);
+	PIOS_BKP_WriteRegister(MAGIC_REG_1, 0);
+	PIOS_BKP_WriteRegister(MAGIC_REG_2, 0);
 }
 
 uint16_t PIOS_IAP_ReadBootCount(void)
 {
-	return RTC_ReadBackupRegister ( IAP_BOOTCOUNT );
+	return PIOS_BKP_ReadRegister(IAP_BOOTCOUNT);
 }
 
 void PIOS_IAP_WriteBootCount (uint16_t boot_count)
 {
-	RTC_WriteBackupRegister ( IAP_BOOTCOUNT, boot_count );
+	PIOS_BKP_WriteRegister(IAP_BOOTCOUNT, boot_count);
+}
+
+/**
+  * @brief  Return one of the IAP command values passed from bootloader.
+  * @param  number: the index of the command value (0..2).
+  * @retval the selected command value.
+  */
+uint32_t PIOS_IAP_ReadBootCmd(uint8_t number)
+{
+	if(PIOS_IAP_CMD_COUNT < number)
+	{
+		PIOS_Assert(0);
+	}
+	else
+	{
+		return PIOS_BKP_ReadRegister(pios_iap_cmd_list[number]);
+	}	
+}
+
+/**
+  * @brief  Write one of the IAP command values to be passed to firmware from bootloader.
+  * @param  number: the index of the command value (0..2).
+  * @param  value: value to be written.
+  */
+void PIOS_IAP_WriteBootCmd(uint8_t number, uint32_t value)
+{
+	if(PIOS_IAP_CMD_COUNT < number)
+	{
+		PIOS_Assert(0);
+	}
+	else
+	{
+		PIOS_BKP_WriteRegister(pios_iap_cmd_list[number], value);
+	}	
 }
 
 #endif /* PIOS_INCLUDE_IAP */
diff --git a/flight/PiOS/STM32F10x/pios_bkp.c b/flight/PiOS/STM32F10x/pios_bkp.c
new file mode 100644
index 000000000..b35e9177e
--- /dev/null
+++ b/flight/PiOS/STM32F10x/pios_bkp.c
@@ -0,0 +1,149 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BKP Backup SRAM functions
+ * @brief Hardware abstraction layer for backup sram
+ * @{
+ *
+ * @file       pios_bkp.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      IAP functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_bkp.h>
+#include <stm32f10x.h>
+#include <stm32f10x_bkp.h>
+#include <stm32f10x_pwr.h>
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+
+/*****************************************************************************************
+ *	Public Definitions/Macros
+ ****************************************************************************************/
+
+/****************************************************************************************
+ *  Public Functions
+ ****************************************************************************************/
+const uint32_t pios_bkp_registers_map[] =
+	{
+		BKP_DR1 ,
+		BKP_DR2 ,
+		BKP_DR3 ,
+		BKP_DR4 ,
+		BKP_DR5 ,
+		BKP_DR6 ,
+		BKP_DR7 ,
+		BKP_DR8 ,
+		BKP_DR9 ,
+		BKP_DR10,
+		BKP_DR11,
+		BKP_DR12,
+		BKP_DR13,
+		BKP_DR14,
+		BKP_DR15,
+		BKP_DR16,
+		BKP_DR17,                                               
+		BKP_DR18,
+		BKP_DR19,
+
+#if FALSE   /*  Not enabled as stm32f4 needs some modifications to 
+		 *  accomodate more than 20 registers (like storing 2 uint16_t 
+		 *  regs in one uint32_t bkp location)
+		 */ 
+		BKP_DR20,
+		BKP_DR21,
+		BKP_DR22,
+		BKP_DR23,
+		BKP_DR24,
+		BKP_DR25,
+		BKP_DR26,
+		BKP_DR27,
+		BKP_DR28,
+		BKP_DR29,
+		BKP_DR30,
+		BKP_DR32,
+		BKP_DR33,
+		BKP_DR34,
+		BKP_DR35,
+		BKP_DR36,
+		BKP_DR37,
+		BKP_DR38,
+		BKP_DR39,
+		BKP_DR40,
+		BKP_DR41,
+		BKP_DR42,
+#endif
+		
+	};
+#define PIOS_BKP_REGISTERS_COUNT NELEMENTS(pios_bkp_registers_map)
+
+void PIOS_BKP_Init(void)
+{
+		/* Enable CRC clock */
+	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
+
+	/* Enable PWR and BKP clock */
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
+
+	/* Clear Tamper pin Event(TE) pending flag */
+	BKP_ClearFlag();
+}
+
+uint16_t PIOS_BKP_ReadRegister(uint32_t regnumber)
+{
+	if(PIOS_BKP_REGISTERS_COUNT < regnumber)
+	{
+		PIOS_Assert(0);
+	} else {
+		return (uint16_t) BKP_ReadBackupRegister(pios_bkp_registers_map[regnumber]);
+	}
+}
+
+void PIOS_BKP_WriteRegister(uint32_t regnumber,uint16_t data)
+{
+	if(PIOS_BKP_REGISTERS_COUNT < regnumber)
+	{
+		PIOS_Assert(0);
+	} else {
+		BKP_WriteBackupRegister(pios_bkp_registers_map[regnumber],(uint32_t)data);
+	}
+}
+
+void PIOS_BKP_EnableWrite(void)
+{
+	/* Enable write access to Backup domain */
+	PWR_BackupAccessCmd(ENABLE);
+}
+
+void PIOS_BKP_DisableWrite(void)
+{
+	/* Enable write access to Backup domain */
+	PWR_BackupAccessCmd(DISABLE);
+}
+
+
+
+/****************************************************************************************
+ *  Public Data
+ ****************************************************************************************/
diff --git a/flight/PiOS/STM32F10x/pios_iap.c b/flight/PiOS/STM32F10x/pios_iap.c
deleted file mode 100644
index ae286e231..000000000
--- a/flight/PiOS/STM32F10x/pios_iap.c
+++ /dev/null
@@ -1,126 +0,0 @@
-/*!
- * 	@File iap.c
- *	@Brief	
- *
- *  Created on: Sep 6, 2010
- *      Author: joe
- */
-
-
-/****************************************************************************************
- *  Header files
- ****************************************************************************************/
-#include <pios.h>
-
-#ifdef PIOS_INCLUDE_IAP
-
-/****************************************************************************************
- *  Private Definitions/Macros
- ****************************************************************************************/
-
-/* these definitions reside here for protection and privacy. */
-#define IAP_MAGIC_WORD_1	0x1122
-#define IAP_MAGIC_WORD_2	0xAA55
-
-#define UPPERWORD16(lw)	(uint16_t)((uint32_t)(lw)>>16)
-#define LOWERWORD16(lw)	(uint16_t)((uint32_t)(lw)&0x0000ffff)
-#define UPPERBYTE(w)	(uint8_t)((w)>>8)
-#define LOWERBYTE(w)	(uint8_t)((w)&0x00ff)
-
-/****************************************************************************************
- *  Private Functions
- ****************************************************************************************/
-
-/****************************************************************************************
- *  Private (static) Data
- ****************************************************************************************/
-
-/****************************************************************************************
- *  Public/Global Data
- ****************************************************************************************/
-
-/*!
- * \brief	PIOS_IAP_Init - performs required initializations for iap module.
- * \param   none.
- * \return	none.
- * \retval	none.
- *
- *	Created: Sep 8, 2010 10:10:48 PM by joe
- */
-void PIOS_IAP_Init( void )
-{
-	/* Enable CRC clock */
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
-
-	/* Enable PWR and BKP clock */
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
-
-	/* Enable write access to Backup domain */
-	PWR_BackupAccessCmd(ENABLE);
-
-	/* Clear Tamper pin Event(TE) pending flag */
-	BKP_ClearFlag();
-
-}
-
-/*!
- * \brief     Determines if an In-Application-Programming request has been made.
- * \param   *comm - Which communication stream to use for the IAP (USB, Telemetry, I2C, SPI, etc)
- * \return    TRUE - if correct sequence found, along with 'comm' updated.
- * 			FALSE - Note that 'comm' will have an invalid comm identifier.
- * \retval
- *
- */
-uint32_t	PIOS_IAP_CheckRequest( void )
-{
-	uint32_t	retval = FALSE;
-	uint16_t	reg1;
-	uint16_t	reg2;
-
-	reg1 = BKP_ReadBackupRegister( MAGIC_REG_1 );
-	reg2 = BKP_ReadBackupRegister( MAGIC_REG_2 );
-
-	if( reg1 == IAP_MAGIC_WORD_1 && reg2 == IAP_MAGIC_WORD_2 ) {
-		// We have a match.
-		retval = TRUE;
-	} else {
-		retval = FALSE;
-	}
-	return retval;
-}
-
-
-
-/*!
- * \brief   Sets the 1st word of the request sequence.
- * \param   n/a
- * \return  n/a
- * \retval
- */
-void	PIOS_IAP_SetRequest1(void)
-{
-	BKP_WriteBackupRegister( MAGIC_REG_1, IAP_MAGIC_WORD_1);
-}
-
-void	PIOS_IAP_SetRequest2(void)
-{
-	BKP_WriteBackupRegister( MAGIC_REG_2, IAP_MAGIC_WORD_2);
-}
-
-void	PIOS_IAP_ClearRequest(void)
-{
-	BKP_WriteBackupRegister( MAGIC_REG_1, 0);
-	BKP_WriteBackupRegister( MAGIC_REG_2, 0);
-}
-
-uint16_t PIOS_IAP_ReadBootCount(void)
-{
-	return BKP_ReadBackupRegister ( IAP_BOOTCOUNT );
-}
-
-void PIOS_IAP_WriteBootCount (uint16_t boot_count)
-{
-	BKP_WriteBackupRegister ( IAP_BOOTCOUNT, boot_count );
-}
-
-#endif /* PIOS_INCLUDE_IAP */
diff --git a/flight/PiOS/STM32F4xx/pios_bkp.c b/flight/PiOS/STM32F4xx/pios_bkp.c
new file mode 100644
index 000000000..d47d39f9e
--- /dev/null
+++ b/flight/PiOS/STM32F4xx/pios_bkp.c
@@ -0,0 +1,119 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BKP Backup SRAM functions
+ * @brief Hardware abstraction layer for backup sram
+ * @{
+ *
+ * @file       pios_bkp.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      IAP functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_bkp.h>
+#include <stm32f4xx_rtc.h>
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+
+/*****************************************************************************************
+ *	Public Definitions/Macros
+ ****************************************************************************************/
+
+/****************************************************************************************
+ *  Public Functions
+ ****************************************************************************************/
+const uint32_t pios_bkp_registers_map[] =
+	{
+		RTC_BKP_DR0,
+		RTC_BKP_DR1,
+		RTC_BKP_DR2,
+		RTC_BKP_DR3,
+		RTC_BKP_DR4,
+		RTC_BKP_DR5,
+		RTC_BKP_DR6,
+		RTC_BKP_DR7,
+		RTC_BKP_DR8,
+		RTC_BKP_DR9,
+		RTC_BKP_DR10,
+		RTC_BKP_DR11,
+		RTC_BKP_DR12,
+		RTC_BKP_DR13,
+		RTC_BKP_DR14,
+		RTC_BKP_DR15,
+		RTC_BKP_DR16,
+		RTC_BKP_DR17,
+		RTC_BKP_DR18,
+		RTC_BKP_DR19
+	};
+#define PIOS_BKP_REGISTERS_COUNT NELEMENTS(pios_bkp_registers_map)
+
+void PIOS_BKP_Init(void)
+{
+	/* Enable CRC clock */
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC | RCC_AHB1Periph_BKPSRAM, ENABLE);
+
+	/* Enable PWR and BKP clock */
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
+
+	/* Clear Tamper pin Event(TE) pending flag */
+	RTC_ClearFlag(RTC_FLAG_TAMP1F);
+}
+
+uint16_t PIOS_BKP_ReadRegister(uint32_t regnumber)
+{
+	if(PIOS_BKP_REGISTERS_COUNT < regnumber)
+	{
+		PIOS_Assert(0);
+	} else {
+		return (uint16_t) RTC_ReadBackupRegister(pios_bkp_registers_map[regnumber]);
+	}
+}
+
+void PIOS_BKP_WriteRegister(uint32_t regnumber,uint16_t data)
+{
+	if(PIOS_BKP_REGISTERS_COUNT < regnumber)
+	{
+		PIOS_Assert(0);
+	} else {
+		RTC_WriteBackupRegister(pios_bkp_registers_map[regnumber],(uint32_t)data);
+	}
+}
+
+void PIOS_BKP_EnableWrite(void)
+{
+	/* Enable write access to Backup domain */
+	PWR_BackupAccessCmd(ENABLE);
+}
+
+void PIOS_BKP_DisableWrite(void)
+{
+	/* Enable write access to Backup domain */
+	PWR_BackupAccessCmd(DISABLE);
+}
+
+
+
+/****************************************************************************************
+ *  Public Data
+ ****************************************************************************************/
diff --git a/flight/PiOS/STM32F4xx/pios_sys.c b/flight/PiOS/STM32F4xx/pios_sys.c
index a25e01182..4620301a9 100644
--- a/flight/PiOS/STM32F4xx/pios_sys.c
+++ b/flight/PiOS/STM32F4xx/pios_sys.c
@@ -220,7 +220,7 @@ int32_t PIOS_SYS_Reset(void)
 */
 uint32_t PIOS_SYS_getCPUFlashSize(void)
 {
-	return ((uint32_t) MEM16(0x1fff7a10) * 1000);	// it might be possible to locate in the OTP area, but haven't looked and not documented
+	return ((uint32_t) MEM16(0x1fff7a22) * 1024);	// it might be possible to locate in the OTP area, but haven't looked and not documented
 }
 
 /**
diff --git a/flight/PiOS/inc/pios_bkp.h b/flight/PiOS/inc/pios_bkp.h
new file mode 100644
index 000000000..35dca462a
--- /dev/null
+++ b/flight/PiOS/inc/pios_bkp.h
@@ -0,0 +1,118 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BKP Backup SRAM functions
+ * @brief Hardware abstraction layer for backup sram
+ * @{
+ *
+ * @file       pios_bkp.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      IAP functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#ifndef PIOS_BKP_H_
+#define PIOS_BKP_H_
+
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+
+/*****************************************************************************************
+ *	Public Definitions/Macros
+ ****************************************************************************************/
+// Backup registers definitions
+// registers reserved for PIOS usage
+#define PIOS_BKP_RESERVED_1   0  // IAP_MAGIC_REG_1
+#define PIOS_BKP_RESERVED_2   1  // IAP_MAGIC_REG_2
+#define PIOS_BKP_RESERVED_3   2  // IAP_BOOTCOUNT
+#define PIOS_BKP_RESERVED_4   3  // PIOS_WDG_REGISTER
+#define PIOS_BKP_RESERVED_5   4  // IAP_CMD1
+#define PIOS_BKP_RESERVED_6   5  // IAP_CMD2
+#define PIOS_BKP_RESERVED_7   6  // IAP_CMD3
+#define PIOS_BKP_RESERVED_8   7
+#define PIOS_BKP_RESERVED_9   8
+#define PIOS_BKP_RESERVED_10  9
+// registers reserved for BOARD specific usage
+#define PIOS_BKP_BOARD_RESERVED_1 10
+#define PIOS_BKP_BOARD_RESERVED_2 11
+#define PIOS_BKP_BOARD_RESERVED_3 12
+// registers reserved for APP usage
+#define PIOS_BKP_APP_RESERVED_1 13
+#define PIOS_BKP_APP_RESERVED_2 14
+#define PIOS_BKP_APP_RESERVED_3 15
+#define PIOS_BKP_APP_RESERVED_4 16
+
+/****************************************************************************************
+ *  Public Functions
+ ****************************************************************************************/
+/** @defgroup PIOS_BKP_Public_Functions
+  * @{
+  */
+
+/**
+  * @brief  Initialize the Backup Register hardware
+  * @param  None
+  * @retval None
+  */
+void		PIOS_BKP_Init(void);
+
+/**
+  * @brief  Reads data from the specified Backup Register.
+  * @param  regnumber: specifies the Backup Register.
+  * @retval The content of the specified Data Backup Register
+  */
+uint16_t	PIOS_BKP_ReadRegister(uint32_t regnumber);
+
+/**
+  * @brief  Writes user data to the specified Backup Register.
+  * @param  regnumber: specifies the Data Backup Register.
+  * @param  data: data to write
+  * @retval None
+  */
+void		PIOS_BKP_WriteRegister(uint32_t regnumber,uint16_t data);
+
+/**
+  * @brief  Enable Backup registers write access
+  * @param  None
+  * @retval None
+  */
+void		PIOS_BKP_EnableWrite(void);
+
+/**
+  * @brief  Disable Backup registers write access
+  * @param  None
+  * @retval None
+  */
+void		PIOS_BKP_DisableWrite(void);
+
+/**
+  * @}
+  */
+
+
+
+/****************************************************************************************
+ *  Public Data
+ ****************************************************************************************/
+
+#endif /* PIOS_BKP_H_ */
\ No newline at end of file
diff --git a/flight/PiOS/inc/pios_iap.h b/flight/PiOS/inc/pios_iap.h
index 5ea916970..5a2c9915d 100644
--- a/flight/PiOS/inc/pios_iap.h
+++ b/flight/PiOS/inc/pios_iap.h
@@ -1,45 +1,86 @@
-/*!
- * 	@File iap.h
- *	@Brief	Header file for the In-Application-Programming Module
- *
- *  Created on: Sep 6, 2010
- *      Author: joe
- */
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_IAP In-Application-Programming Module
+ * @brief In-Application-Programming Module
+ * @{
+ *
+ * @file       pios_iap.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      IAP functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#ifndef PIOS_IAP_H
+#define PIOS_IAP_H
 
-#ifndef PIOS_IAP_H
-#define PIOS_IAP_H
+
 
-
-/****************************************************************************************
- *  Header files
- ****************************************************************************************/
-
-/*****************************************************************************************
- *	Public Definitions/Macros
- ****************************************************************************************/
-#if defined(STM32F4XX)
-#define MAGIC_REG_1     RTC_BKP_DR1
-#define MAGIC_REG_2     RTC_BKP_DR2
-#define IAP_BOOTCOUNT   RTC_BKP_DR3
-#else
-#define MAGIC_REG_1     BKP_DR1
-#define MAGIC_REG_2     BKP_DR2
-#define IAP_BOOTCOUNT   BKP_DR3
-#endif
-
-/****************************************************************************************
- *  Public Functions
- ****************************************************************************************/
-void		PIOS_IAP_Init(void);
-uint32_t	PIOS_IAP_CheckRequest( void );
-void		PIOS_IAP_SetRequest1(void);
-void		PIOS_IAP_SetRequest2(void);
-void		PIOS_IAP_ClearRequest(void);
-uint16_t	PIOS_IAP_ReadBootCount(void);
-void		PIOS_IAP_WriteBootCount(uint16_t);
-
-/****************************************************************************************
- *  Public Data
- ****************************************************************************************/
-
-#endif /* PIOS_IAP_H */
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+#include <pios_bkp.h>
+
+/*****************************************************************************************
+ *	Public Definitions/Macros
+ ****************************************************************************************/
+#define MAGIC_REG_1     PIOS_BKP_RESERVED_1
+#define MAGIC_REG_2     PIOS_BKP_RESERVED_2
+#define IAP_BOOTCOUNT   PIOS_BKP_RESERVED_3
+#define IAP_CMD1        PIOS_BKP_RESERVED_5
+#define IAP_CMD2        PIOS_BKP_RESERVED_6
+#define IAP_CMD3        PIOS_BKP_RESERVED_7
+
+#define PIOS_IAP_CLEAR_FLASH_CMD_0 0xFA5F
+#define PIOS_IAP_CLEAR_FLASH_CMD_1 0x0001
+#define PIOS_IAP_CLEAR_FLASH_CMD_2 0x0000
+
+#define PIOS_IAP_CMD_COUNT 3
+
+/****************************************************************************************
+ *  Public Functions
+ ****************************************************************************************/
+void		PIOS_IAP_Init(void);
+uint32_t	PIOS_IAP_CheckRequest( void );
+void		PIOS_IAP_SetRequest1(void);
+void		PIOS_IAP_SetRequest2(void);
+void		PIOS_IAP_ClearRequest(void);
+uint16_t	PIOS_IAP_ReadBootCount(void);
+void		PIOS_IAP_WriteBootCount(uint16_t);
+
+/**
+  * @brief  Return one of the IAP command values passed from bootloader.
+  * @param  number: the index of the command value (0..2).
+  * @retval the selected command value.
+  */
+uint32_t PIOS_IAP_ReadBootCmd(uint8_t number);
+
+/**
+  * @brief  Write one of the IAP command values to be passed to firmware from bootloader.
+  * @param  number: the index of the command value (0..2).
+  * @param  value: value to be written.
+  */
+void PIOS_IAP_WriteBootCmd(uint8_t number, uint32_t value);
+/****************************************************************************************
+ *  Public Data
+ ****************************************************************************************/
+
+#endif /* PIOS_IAP_H */
diff --git a/flight/targets/BootloaderUpdater/main.c b/flight/targets/BootloaderUpdater/main.c
index ff2c5ae2e..1dd10b4f0 100644
--- a/flight/targets/BootloaderUpdater/main.c
+++ b/flight/targets/BootloaderUpdater/main.c
@@ -113,7 +113,6 @@ int main()
 
 
 	///
-
 	/// Bootloader programing
 	for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
 		bool result = false;
@@ -156,12 +155,6 @@ void error(int led, int code)
 			PIOS_LED_Off(led);
 			PIOS_DELAY_WaitmS(1000);
 		}
-		PIOS_DELAY_WaitmS(1000);
-		for (int x = 0; x < 10; x++) {
-			PIOS_LED_On(led);
-			PIOS_DELAY_WaitmS(200);
-			PIOS_LED_Off(led);
-			PIOS_DELAY_WaitmS(200);
-		}
+		PIOS_DELAY_WaitmS(3000);
 	}
 }
\ No newline at end of file
diff --git a/flight/targets/Bootloaders/CopterControl/inc/op_dfu.h b/flight/targets/Bootloaders/CopterControl/inc/op_dfu.h
deleted file mode 100644
index e031c3364..000000000
--- a/flight/targets/Bootloaders/CopterControl/inc/op_dfu.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_dfu.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __OP_DFU_H
-#define __OP_DFU_H
-#include "common.h"
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef struct {
-	uint8_t programmingType;
-	uint8_t readWriteFlags;
-	uint32_t startOfUserCode;
-	uint32_t sizeOfCode;
-	uint8_t sizeOfDescription;
-	uint8_t BL_Version;
-	uint16_t devID;
-	DeviceType devType;
-	uint32_t FW_Crc;
-} Device;
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define COMMAND	0
-#define COUNT	1
-#define DATA	5
-
-/* Exported functions ------------------------------------------------------- */
-void processComand(uint8_t *Receive_Buffer);
-uint32_t baseOfAdressType(uint8_t type);
-uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
-void OPDfuIni(uint8_t discover);
-void DataDownload(DownloadAction);
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
-#endif /* __OP_DFU_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
diff --git a/flight/targets/Bootloaders/CopterControl/op_dfu.c b/flight/targets/Bootloaders/CopterControl/op_dfu.c
deleted file mode 100644
index 9f98d3394..000000000
--- a/flight/targets/Bootloaders/CopterControl/op_dfu.c
+++ /dev/null
@@ -1,467 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup CopterControlBL CopterControl BootLoader
- * @brief These files contain the code to the CopterControl Bootloader.
- *
- * @{
- * @file       op_dfu.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      This file contains the DFU commands handling code
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
-#include <pios_board_info.h>
-//programmable devices
-Device devicesTable[10];
-uint8_t numberOfDevices = 0;
-
-DFUProgType currentProgrammingDestination; //flash, flash_trough spi
-uint8_t currentDeviceCanRead;
-uint8_t currentDeviceCanWrite;
-Device currentDevice;
-
-uint8_t Buffer[64];
-uint8_t echoBuffer[64];
-uint8_t SendBuffer[64];
-uint8_t Command = 0;
-uint8_t EchoReqFlag = 0;
-uint8_t EchoAnsFlag = 0;
-uint8_t StartFlag = 0;
-uint32_t Aditionals = 0;
-uint32_t SizeOfTransfer = 0;
-uint32_t Expected_CRC = 0;
-uint8_t SizeOfLastPacket = 0;
-uint32_t Next_Packet = 0;
-uint8_t TransferType;
-uint32_t Count = 0;
-uint32_t Data;
-uint8_t Data0;
-uint8_t Data1;
-uint8_t Data2;
-uint8_t Data3;
-uint8_t offset = 0;
-uint32_t aux;
-//Download vars
-uint32_t downSizeOfLastPacket = 0;
-uint32_t downPacketTotal = 0;
-uint32_t downPacketCurrent = 0;
-DFUTransfer downType = 0;
-/* Extern variables ----------------------------------------------------------*/
-extern DFUStates DeviceState;
-extern uint8_t JumpToApp;
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf, uint16_t size);
-uint32_t CalcFirmCRC(void);
-
-void DataDownload(DownloadAction action) {
-	if ((DeviceState == downloading)) {
-
-		uint8_t packetSize;
-		uint32_t offset;
-		uint32_t partoffset;
-		SendBuffer[0] = 0x01;
-		SendBuffer[1] = Download;
-		SendBuffer[2] = downPacketCurrent >> 24;
-		SendBuffer[3] = downPacketCurrent >> 16;
-		SendBuffer[4] = downPacketCurrent >> 8;
-		SendBuffer[5] = downPacketCurrent;
-		if (downPacketCurrent == downPacketTotal - 1) {
-			packetSize = downSizeOfLastPacket;
-		} else {
-			packetSize = 14;
-		}
-		for (uint8_t x = 0; x < packetSize; ++x) {
-			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-			offset = baseOfAdressType(downType) + partoffset;
-			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-					currentProgrammingDestination)) {
-				DeviceState = Last_operation_failed;
-			}
-		}
-		downPacketCurrent = downPacketCurrent + 1;
-		if (downPacketCurrent > downPacketTotal - 1) {
-			DeviceState = Last_operation_Success;
-			Aditionals = (uint32_t) Download;
-		}
-		sendData(SendBuffer + 1, 63);
-	}
-}
-void processComand(uint8_t *xReceive_Buffer) {
-
-	Command = xReceive_Buffer[COMMAND];
-#ifdef DEBUG_SSP
-	char str[63]= {0};
-	sprintf(str,"Received COMMAND:%d|",Command);
-	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-	EchoReqFlag = (Command >> 7);
-	EchoAnsFlag = (Command >> 6) & 0x01;
-	StartFlag = (Command >> 5) & 0x01;
-	Count = xReceive_Buffer[COUNT] << 24;
-	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += xReceive_Buffer[COUNT + 3];
-
-	Data = xReceive_Buffer[DATA] << 24;
-	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data += xReceive_Buffer[DATA + 3];
-	Data0 = xReceive_Buffer[DATA];
-	Data1 = xReceive_Buffer[DATA + 1];
-	Data2 = xReceive_Buffer[DATA + 2];
-	Data3 = xReceive_Buffer[DATA + 3];
-	Command = Command & 0b00011111;
-
-	if (EchoReqFlag == 1) {
-		memcpy(echoBuffer, Buffer, 64);
-	}
-	switch (Command) {
-	case EnterDFU:
-		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
-				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
-				OPDfuIni(TRUE);
-			DeviceState = DFUidle;
-			currentProgrammingDestination = devicesTable[Data0].programmingType;
-			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
-			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
-					& 0x01;
-			currentDevice = devicesTable[Data0];
-			uint8_t result = 0;
-			switch (currentProgrammingDestination) {
-			case Self_flash:
-				result = PIOS_BL_HELPER_FLASH_Ini();
-				break;
-			case Remote_flash_via_spi:
-				result = TRUE;
-				break;
-			default:
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint16_t) Command;
-			}
-			if (result != 1) {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Upload:
-		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
-			if ((StartFlag == 1) && (Next_Packet == 0)) {
-				TransferType = Data0;
-				SizeOfTransfer = Count;
-				Next_Packet = 1;
-				Expected_CRC = Data2 << 24;
-				Expected_CRC += Data3 << 16;
-				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += xReceive_Buffer[DATA + 5];
-				SizeOfLastPacket = Data1;
-
-				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
-						* 14 * 4 + SizeOfLastPacket * 4) == TRUE) {
-					DeviceState = outsideDevCapabilities;
-					Aditionals = (uint32_t) Command;
-				} else {
-					uint8_t result = 1;
-					if (TransferType == FW) {
-						switch (currentProgrammingDestination) {
-						case Self_flash:
-							result = PIOS_BL_HELPER_FLASH_Start();
-							break;
-						case Remote_flash_via_spi:
-							result = FALSE;
-							break;
-						default:
-							break;
-						}
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					} else {
-
-						DeviceState = uploading;
-					}
-				}
-			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
-				if (Count > SizeOfTransfer) {
-					DeviceState = too_many_packets;
-					Aditionals = Count;
-				} else if (Count == Next_Packet - 1) {
-					uint8_t numberOfWords = 14;
-					if (Count == SizeOfTransfer - 1)//is this the last packet?
-					{
-						numberOfWords = SizeOfLastPacket;
-					}
-					uint8_t result = 0;
-					switch (currentProgrammingDestination) {
-					case Self_flash:
-						for (uint8_t x = 0; x < numberOfWords; ++x) {
-							offset = 4 * x;
-							Data = xReceive_Buffer[DATA + offset] << 24;
-							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-							Data += xReceive_Buffer[DATA + 3 + offset];
-							aux = baseOfAdressType(TransferType) + (uint32_t)(
-									Count * 14 * 4 + x * 4);
-							result = 0;
-							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-								if (result == 0) {
-									result = (FLASH_ProgramWord(aux, Data)
-											== FLASH_COMPLETE) ? 1 : 0;
-								}
-							}
-						}
-						break;
-					case Remote_flash_via_spi:
-						result = FALSE; // No support for this for the PipX
-						break;
-					default:
-						result = 0;
-						break;
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					}
-
-					++Next_Packet;
-				} else {
-					DeviceState = wrong_packet_received;
-					Aditionals = Count;
-				}
-			} else {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Req_Capabilities:
-		OPDfuIni(TRUE);
-		Buffer[0] = 0x01;
-		Buffer[1] = Rep_Capabilities;
-		if (Data0 == 0) {
-			Buffer[2] = 0;
-			Buffer[3] = 0;
-			Buffer[4] = 0;
-			Buffer[5] = 0;
-			Buffer[6] = 0;
-			Buffer[7] = numberOfDevices;
-			uint16_t WRFlags = 0;
-			for (int x = 0; x < numberOfDevices; ++x) {
-				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
-						| WRFlags);
-			}
-			Buffer[8] = WRFlags >> 8;
-			Buffer[9] = WRFlags;
-		} else {
-			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
-			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
-			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
-			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
-			Buffer[6] = Data0;
-			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
-			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
-			Buffer[9] = devicesTable[Data0 - 1].devID;
-			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
-			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
-			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
-			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
-			Buffer[15] = devicesTable[Data0 - 1].devID;
-		}
-		sendData(Buffer + 1, 63);
-		break;
-	case JumpFW:
-		if (Data == 0x5AFE) {
-			/* Force board into safe mode */
-			PIOS_IAP_WriteBootCount(0xFFFF);
-		}
-		FLASH_Lock();
-		JumpToApp = 1;
-		break;
-	case Reset:
-		PIOS_SYS_Reset();
-		break;
-	case Abort_Operation:
-		Next_Packet = 0;
-		DeviceState = DFUidle;
-		break;
-
-	case Op_END:
-		if (DeviceState == uploading) {
-			if (Next_Packet - 1 == SizeOfTransfer) {
-				Next_Packet = 0;
-				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
-					DeviceState = Last_operation_Success;
-				} else {
-					DeviceState = CRC_Fail;
-				}
-			}
-			if (Next_Packet - 1 < SizeOfTransfer) {
-				Next_Packet = 0;
-				DeviceState = too_few_packets;
-			}
-		}
-		break;
-	case Download_Req:
-#ifdef DEBUG_SSP
-		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
-		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-		if (DeviceState == DFUidle) {
-#ifdef DEBUG_SSP
-			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
-#endif
-			downType = Data0;
-			downPacketTotal = Count;
-			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
-					+ downSizeOfLastPacket) == 1) {
-				DeviceState = outsideDevCapabilities;
-				Aditionals = (uint32_t) Command;
-
-			} else {
-				downPacketCurrent = 0;
-				DeviceState = downloading;
-			}
-		} else {
-			DeviceState = Last_operation_failed;
-			Aditionals = (uint32_t) Command;
-		}
-		break;
-
-	case Status_Request:
-		Buffer[0] = 0x01;
-		Buffer[1] = Status_Rep;
-		if (DeviceState == wrong_packet_received) {
-			Buffer[2] = Aditionals >> 24;
-			Buffer[3] = Aditionals >> 16;
-			Buffer[4] = Aditionals >> 8;
-			Buffer[5] = Aditionals;
-		} else {
-			Buffer[2] = 0;
-			Buffer[3] = ((uint16_t) Aditionals) >> 8;
-			Buffer[4] = ((uint16_t) Aditionals);
-			Buffer[5] = 0;
-		}
-		Buffer[6] = DeviceState;
-		Buffer[7] = 0;
-		Buffer[8] = 0;
-		Buffer[9] = 0;
-		sendData(Buffer + 1, 63);
-		if (DeviceState == Last_operation_Success) {
-			DeviceState = DFUidle;
-		}
-		break;
-	case Status_Rep:
-
-		break;
-
-	}
-	if (EchoReqFlag == 1) {
-		echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
-		sendData(echoBuffer + 1, 63);
-	}
-	return;
-}
-void OPDfuIni(uint8_t discover) {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	Device dev;
-
-	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = bdinfo->bl_rev;
-	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = bdinfo->hw_type;
-	numberOfDevices = 1;
-	devicesTable[0] = dev;
-	if (discover) {
-		//TODO check other devices trough spi or whatever
-	}
-}
-uint32_t baseOfAdressType(DFUTransfer type) {
-	switch (type) {
-	case FW:
-		return currentDevice.startOfUserCode;
-		break;
-	case Descript:
-		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
-		break;
-	default:
-
-		return 0;
-	}
-}
-uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
-	switch (type) {
-	case FW:
-		return (size > currentDevice.sizeOfCode) ? 1 : 0;
-		break;
-	case Descript:
-		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
-		break;
-	default:
-		return TRUE;
-	}
-}
-
-uint32_t CalcFirmCRC() {
-	switch (currentProgrammingDestination) {
-	case Self_flash:
-		return PIOS_BL_HELPER_CRC_Memory_Calc();
-		break;
-	case Remote_flash_via_spi:
-		return 0;
-		break;
-	default:
-		return 0;
-		break;
-	}
-
-}
-void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-}
-
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
-	switch (type) {
-	case Remote_flash_via_spi:
-		return FALSE; // We should not get this for the PipX
-		break;
-	case Self_flash:
-		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
-		}
-		return TRUE;
-		break;
-	default:
-		return FALSE;
-	}
-}
diff --git a/flight/targets/Bootloaders/OSD/inc/op_dfu.h b/flight/targets/Bootloaders/OSD/inc/op_dfu.h
deleted file mode 100644
index e031c3364..000000000
--- a/flight/targets/Bootloaders/OSD/inc/op_dfu.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_dfu.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __OP_DFU_H
-#define __OP_DFU_H
-#include "common.h"
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef struct {
-	uint8_t programmingType;
-	uint8_t readWriteFlags;
-	uint32_t startOfUserCode;
-	uint32_t sizeOfCode;
-	uint8_t sizeOfDescription;
-	uint8_t BL_Version;
-	uint16_t devID;
-	DeviceType devType;
-	uint32_t FW_Crc;
-} Device;
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define COMMAND	0
-#define COUNT	1
-#define DATA	5
-
-/* Exported functions ------------------------------------------------------- */
-void processComand(uint8_t *Receive_Buffer);
-uint32_t baseOfAdressType(uint8_t type);
-uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
-void OPDfuIni(uint8_t discover);
-void DataDownload(DownloadAction);
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
-#endif /* __OP_DFU_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
diff --git a/flight/targets/Bootloaders/PipXtreme/op_dfu.c b/flight/targets/Bootloaders/PipXtreme/op_dfu.c
deleted file mode 100644
index 249e3d320..000000000
--- a/flight/targets/Bootloaders/PipXtreme/op_dfu.c
+++ /dev/null
@@ -1,467 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotBL OpenPilot BootLoader
- * @brief These files contain the code to the OpenPilot MB Bootloader.
- *
- * @{
- * @file       op_dfu.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      This file contains the DFU commands handling code
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
-#include <pios_board_info.h>
-//programmable devices
-Device devicesTable[10];
-uint8_t numberOfDevices = 0;
-
-DFUProgType currentProgrammingDestination; //flash, flash_trough spi
-uint8_t currentDeviceCanRead;
-uint8_t currentDeviceCanWrite;
-Device currentDevice;
-
-uint8_t Buffer[64];
-uint8_t echoBuffer[64];
-uint8_t SendBuffer[64];
-uint8_t Command = 0;
-uint8_t EchoReqFlag = 0;
-uint8_t EchoAnsFlag = 0;
-uint8_t StartFlag = 0;
-uint32_t Aditionals = 0;
-uint32_t SizeOfTransfer = 0;
-uint32_t Expected_CRC = 0;
-uint8_t SizeOfLastPacket = 0;
-uint32_t Next_Packet = 0;
-uint8_t TransferType;
-uint32_t Count = 0;
-uint32_t Data;
-uint8_t Data0;
-uint8_t Data1;
-uint8_t Data2;
-uint8_t Data3;
-uint8_t offset = 0;
-uint32_t aux;
-//Download vars
-uint32_t downSizeOfLastPacket = 0;
-uint32_t downPacketTotal = 0;
-uint32_t downPacketCurrent = 0;
-DFUTransfer downType = 0;
-/* Extern variables ----------------------------------------------------------*/
-extern DFUStates DeviceState;
-extern uint8_t JumpToApp;
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf, uint16_t size);
-uint32_t CalcFirmCRC(void);
-
-void DataDownload(DownloadAction action) {
-	if ((DeviceState == downloading)) {
-
-		uint8_t packetSize;
-		uint32_t offset;
-		uint32_t partoffset;
-		SendBuffer[0] = 0x01;
-		SendBuffer[1] = Download;
-		SendBuffer[2] = downPacketCurrent >> 24;
-		SendBuffer[3] = downPacketCurrent >> 16;
-		SendBuffer[4] = downPacketCurrent >> 8;
-		SendBuffer[5] = downPacketCurrent;
-		if (downPacketCurrent == downPacketTotal - 1) {
-			packetSize = downSizeOfLastPacket;
-		} else {
-			packetSize = 14;
-		}
-		for (uint8_t x = 0; x < packetSize; ++x) {
-			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-			offset = baseOfAdressType(downType) + partoffset;
-			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-					currentProgrammingDestination)) {
-				DeviceState = Last_operation_failed;
-			}
-		}
-		downPacketCurrent = downPacketCurrent + 1;
-		if (downPacketCurrent > downPacketTotal - 1) {
-			DeviceState = Last_operation_Success;
-			Aditionals = (uint32_t) Download;
-		}
-		sendData(SendBuffer + 1, 63);
-	}
-}
-void processComand(uint8_t *xReceive_Buffer) {
-
-	Command = xReceive_Buffer[COMMAND];
-#ifdef DEBUG_SSP
-	char str[63]= {0};
-	sprintf(str,"Received COMMAND:%d|",Command);
-	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-	EchoReqFlag = (Command >> 7);
-	EchoAnsFlag = (Command >> 6) & 0x01;
-	StartFlag = (Command >> 5) & 0x01;
-	Count = xReceive_Buffer[COUNT] << 24;
-	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += xReceive_Buffer[COUNT + 3];
-
-	Data = xReceive_Buffer[DATA] << 24;
-	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data += xReceive_Buffer[DATA + 3];
-	Data0 = xReceive_Buffer[DATA];
-	Data1 = xReceive_Buffer[DATA + 1];
-	Data2 = xReceive_Buffer[DATA + 2];
-	Data3 = xReceive_Buffer[DATA + 3];
-	Command = Command & 0b00011111;
-
-	if (EchoReqFlag == 1) {
-		memcpy(echoBuffer, Buffer, 64);
-	}
-	switch (Command) {
-	case EnterDFU:
-		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
-				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
-				OPDfuIni(TRUE);
-			DeviceState = DFUidle;
-			currentProgrammingDestination = devicesTable[Data0].programmingType;
-			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
-			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
-					& 0x01;
-			currentDevice = devicesTable[Data0];
-			uint8_t result = 0;
-			switch (currentProgrammingDestination) {
-			case Self_flash:
-				result = PIOS_BL_HELPER_FLASH_Ini();
-				break;
-			case Remote_flash_via_spi:
-				result = TRUE;
-				break;
-			default:
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint16_t) Command;
-			}
-			if (result != 1) {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Upload:
-		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
-			if ((StartFlag == 1) && (Next_Packet == 0)) {
-				TransferType = Data0;
-				SizeOfTransfer = Count;
-				Next_Packet = 1;
-				Expected_CRC = Data2 << 24;
-				Expected_CRC += Data3 << 16;
-				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += xReceive_Buffer[DATA + 5];
-				SizeOfLastPacket = Data1;
-
-				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
-						* 14 * 4 + SizeOfLastPacket * 4) == TRUE) {
-					DeviceState = outsideDevCapabilities;
-					Aditionals = (uint32_t) Command;
-				} else {
-					uint8_t result = 1;
-					if (TransferType == FW) {
-						switch (currentProgrammingDestination) {
-						case Self_flash:
-							result = PIOS_BL_HELPER_FLASH_Start();
-							break;
-						case Remote_flash_via_spi:
-							result = FALSE;
-							break;
-						default:
-							break;
-						}
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					} else {
-
-						DeviceState = uploading;
-					}
-				}
-			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
-				if (Count > SizeOfTransfer) {
-					DeviceState = too_many_packets;
-					Aditionals = Count;
-				} else if (Count == Next_Packet - 1) {
-					uint8_t numberOfWords = 14;
-					if (Count == SizeOfTransfer - 1)//is this the last packet?
-					{
-						numberOfWords = SizeOfLastPacket;
-					}
-					uint8_t result = 0;
-					switch (currentProgrammingDestination) {
-					case Self_flash:
-						for (uint8_t x = 0; x < numberOfWords; ++x) {
-							offset = 4 * x;
-							Data = xReceive_Buffer[DATA + offset] << 24;
-							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-							Data += xReceive_Buffer[DATA + 3 + offset];
-							aux = baseOfAdressType(TransferType) + (uint32_t)(
-									Count * 14 * 4 + x * 4);
-							result = 0;
-							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-								if (result == 0) {
-									result = (FLASH_ProgramWord(aux, Data)
-											== FLASH_COMPLETE) ? 1 : 0;
-								}
-							}
-						}
-						break;
-					case Remote_flash_via_spi:
-						result = FALSE; // No support for this for the PipX
-						break;
-					default:
-						result = 0;
-						break;
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					}
-
-					++Next_Packet;
-				} else {
-					DeviceState = wrong_packet_received;
-					Aditionals = Count;
-				}
-			} else {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Req_Capabilities:
-		OPDfuIni(TRUE);
-		Buffer[0] = 0x01;
-		Buffer[1] = Rep_Capabilities;
-		if (Data0 == 0) {
-			Buffer[2] = 0;
-			Buffer[3] = 0;
-			Buffer[4] = 0;
-			Buffer[5] = 0;
-			Buffer[6] = 0;
-			Buffer[7] = numberOfDevices;
-			uint16_t WRFlags = 0;
-			for (int x = 0; x < numberOfDevices; ++x) {
-				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
-						| WRFlags);
-			}
-			Buffer[8] = WRFlags >> 8;
-			Buffer[9] = WRFlags;
-		} else {
-			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
-			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
-			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
-			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
-			Buffer[6] = Data0;
-			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
-			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
-			Buffer[9] = devicesTable[Data0 - 1].devID;
-			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
-			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
-			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
-			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
-			Buffer[15] = devicesTable[Data0 - 1].devID;
-		}
-		sendData(Buffer + 1, 63);
-		break;
-	case JumpFW:
-		if (Data == 0x5AFE) {
-			/* Force board into safe mode */
-			PIOS_IAP_WriteBootCount(0xFFFF);
-		}
-		FLASH_Lock();
-		JumpToApp = 1;
-		break;
-	case Reset:
-		PIOS_SYS_Reset();
-		break;
-	case Abort_Operation:
-		Next_Packet = 0;
-		DeviceState = DFUidle;
-		break;
-
-	case Op_END:
-		if (DeviceState == uploading) {
-			if (Next_Packet - 1 == SizeOfTransfer) {
-				Next_Packet = 0;
-				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
-					DeviceState = Last_operation_Success;
-				} else {
-					DeviceState = CRC_Fail;
-				}
-			}
-			if (Next_Packet - 1 < SizeOfTransfer) {
-				Next_Packet = 0;
-				DeviceState = too_few_packets;
-			}
-		}
-		break;
-	case Download_Req:
-#ifdef DEBUG_SSP
-		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
-		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-		if (DeviceState == DFUidle) {
-#ifdef DEBUG_SSP
-			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
-#endif
-			downType = Data0;
-			downPacketTotal = Count;
-			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
-					+ downSizeOfLastPacket) == 1) {
-				DeviceState = outsideDevCapabilities;
-				Aditionals = (uint32_t) Command;
-
-			} else {
-				downPacketCurrent = 0;
-				DeviceState = downloading;
-			}
-		} else {
-			DeviceState = Last_operation_failed;
-			Aditionals = (uint32_t) Command;
-		}
-		break;
-
-	case Status_Request:
-		Buffer[0] = 0x01;
-		Buffer[1] = Status_Rep;
-		if (DeviceState == wrong_packet_received) {
-			Buffer[2] = Aditionals >> 24;
-			Buffer[3] = Aditionals >> 16;
-			Buffer[4] = Aditionals >> 8;
-			Buffer[5] = Aditionals;
-		} else {
-			Buffer[2] = 0;
-			Buffer[3] = ((uint16_t) Aditionals) >> 8;
-			Buffer[4] = ((uint16_t) Aditionals);
-			Buffer[5] = 0;
-		}
-		Buffer[6] = DeviceState;
-		Buffer[7] = 0;
-		Buffer[8] = 0;
-		Buffer[9] = 0;
-		sendData(Buffer + 1, 63);
-		if (DeviceState == Last_operation_Success) {
-			DeviceState = DFUidle;
-		}
-		break;
-	case Status_Rep:
-
-		break;
-
-	}
-	if (EchoReqFlag == 1) {
-		echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
-		sendData(echoBuffer + 1, 63);
-	}
-	return;
-}
-void OPDfuIni(uint8_t discover) {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	Device dev;
-
-	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = bdinfo->bl_rev;
-	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = bdinfo->hw_type;
-	numberOfDevices = 1;
-	devicesTable[0] = dev;
-	if (discover) {
-		//TODO check other devices trough spi or whatever
-	}
-}
-uint32_t baseOfAdressType(DFUTransfer type) {
-	switch (type) {
-	case FW:
-		return currentDevice.startOfUserCode;
-		break;
-	case Descript:
-		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
-		break;
-	default:
-
-		return 0;
-	}
-}
-uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
-	switch (type) {
-	case FW:
-		return (size > currentDevice.sizeOfCode) ? 1 : 0;
-		break;
-	case Descript:
-		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
-		break;
-	default:
-		return TRUE;
-	}
-}
-
-uint32_t CalcFirmCRC() {
-	switch (currentProgrammingDestination) {
-	case Self_flash:
-		return PIOS_BL_HELPER_CRC_Memory_Calc();
-		break;
-	case Remote_flash_via_spi:
-		return 0;
-		break;
-	default:
-		return 0;
-		break;
-	}
-
-}
-void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-}
-
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
-	switch (type) {
-	case Remote_flash_via_spi:
-		return FALSE; // We should not get this for the PipX
-		break;
-	case Self_flash:
-		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
-		}
-		return TRUE;
-		break;
-	default:
-		return FALSE;
-	}
-}
diff --git a/flight/targets/Bootloaders/RevoMini/inc/op_dfu.h b/flight/targets/Bootloaders/RevoMini/inc/op_dfu.h
deleted file mode 100644
index e031c3364..000000000
--- a/flight/targets/Bootloaders/RevoMini/inc/op_dfu.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_dfu.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __OP_DFU_H
-#define __OP_DFU_H
-#include "common.h"
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef struct {
-	uint8_t programmingType;
-	uint8_t readWriteFlags;
-	uint32_t startOfUserCode;
-	uint32_t sizeOfCode;
-	uint8_t sizeOfDescription;
-	uint8_t BL_Version;
-	uint16_t devID;
-	DeviceType devType;
-	uint32_t FW_Crc;
-} Device;
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define COMMAND	0
-#define COUNT	1
-#define DATA	5
-
-/* Exported functions ------------------------------------------------------- */
-void processComand(uint8_t *Receive_Buffer);
-uint32_t baseOfAdressType(uint8_t type);
-uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
-void OPDfuIni(uint8_t discover);
-void DataDownload(DownloadAction);
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
-#endif /* __OP_DFU_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
diff --git a/flight/targets/Bootloaders/RevoMini/op_dfu.c b/flight/targets/Bootloaders/RevoMini/op_dfu.c
deleted file mode 100644
index 3aceedcfb..000000000
--- a/flight/targets/Bootloaders/RevoMini/op_dfu.c
+++ /dev/null
@@ -1,468 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup CopterControlBL CopterControl BootLoader
- * @brief These files contain the code to the CopterControl Bootloader.
- *
- * @{
- * @file       op_dfu.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      This file contains the DFU commands handling code
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
-#include <pios_board_info.h>
-//programmable devices
-Device devicesTable[10];
-uint8_t numberOfDevices = 0;
-
-DFUProgType currentProgrammingDestination; //flash, flash_trough spi
-uint8_t currentDeviceCanRead;
-uint8_t currentDeviceCanWrite;
-Device currentDevice;
-
-uint8_t Buffer[64];
-uint8_t echoBuffer[64];
-uint8_t SendBuffer[64];
-uint8_t Command = 0;
-uint8_t EchoReqFlag = 0;
-uint8_t EchoAnsFlag = 0;
-uint8_t StartFlag = 0;
-uint32_t Aditionals = 0;
-uint32_t SizeOfTransfer = 0;
-uint32_t Expected_CRC = 0;
-uint8_t SizeOfLastPacket = 0;
-uint32_t Next_Packet = 0;
-uint8_t TransferType;
-uint32_t Count = 0;
-uint32_t Data;
-uint8_t Data0;
-uint8_t Data1;
-uint8_t Data2;
-uint8_t Data3;
-uint8_t offset = 0;
-uint32_t aux;
-//Download vars
-uint32_t downSizeOfLastPacket = 0;
-uint32_t downPacketTotal = 0;
-uint32_t downPacketCurrent = 0;
-DFUTransfer downType = 0;
-/* Extern variables ----------------------------------------------------------*/
-extern DFUStates DeviceState;
-extern uint8_t JumpToApp;
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf, uint16_t size);
-uint32_t CalcFirmCRC(void);
-
-void DataDownload(DownloadAction action) {
-	if ((DeviceState == downloading)) {
-
-		uint8_t packetSize;
-		uint32_t offset;
-		uint32_t partoffset;
-		SendBuffer[0] = 0x01;
-		SendBuffer[1] = Download;
-		SendBuffer[2] = downPacketCurrent >> 24;
-		SendBuffer[3] = downPacketCurrent >> 16;
-		SendBuffer[4] = downPacketCurrent >> 8;
-		SendBuffer[5] = downPacketCurrent;
-		if (downPacketCurrent == downPacketTotal - 1) {
-			packetSize = downSizeOfLastPacket;
-		} else {
-			packetSize = 14;
-		}
-		for (uint8_t x = 0; x < packetSize; ++x) {
-			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-			offset = baseOfAdressType(downType) + partoffset;
-			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-					currentProgrammingDestination)) {
-				DeviceState = Last_operation_failed;
-			}
-		}
-		downPacketCurrent = downPacketCurrent + 1;
-		if (downPacketCurrent > downPacketTotal - 1) {
-			DeviceState = Last_operation_Success;
-			Aditionals = (uint32_t) Download;
-		}
-		sendData(SendBuffer + 1, 63);
-	}
-}
-void processComand(uint8_t *xReceive_Buffer) {
-
-	Command = xReceive_Buffer[COMMAND];
-#ifdef DEBUG_SSP
-	char str[63]= {0};
-	sprintf(str,"Received COMMAND:%d|",Command);
-	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-	EchoReqFlag = (Command >> 7);
-	EchoAnsFlag = (Command >> 6) & 0x01;
-	StartFlag = (Command >> 5) & 0x01;
-	Count = xReceive_Buffer[COUNT] << 24;
-	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += xReceive_Buffer[COUNT + 3];
-
-	Data = xReceive_Buffer[DATA] << 24;
-	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data += xReceive_Buffer[DATA + 3];
-	Data0 = xReceive_Buffer[DATA];
-	Data1 = xReceive_Buffer[DATA + 1];
-	Data2 = xReceive_Buffer[DATA + 2];
-	Data3 = xReceive_Buffer[DATA + 3];
-	Command = Command & 0b00011111;
-
-	if (EchoReqFlag == 1) {
-		memcpy(echoBuffer, xReceive_Buffer, 64);
-	}
-	switch (Command) {
-	case EnterDFU:
-		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
-				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
-				OPDfuIni(true);
-			DeviceState = DFUidle;
-			currentProgrammingDestination = devicesTable[Data0].programmingType;
-			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
-			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
-					& 0x01;
-			currentDevice = devicesTable[Data0];
-			uint8_t result = 0;
-			switch (currentProgrammingDestination) {
-			case Self_flash:
-				result = PIOS_BL_HELPER_FLASH_Ini();
-				break;
-			case Remote_flash_via_spi:
-				result = true;
-				break;
-			default:
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint16_t) Command;
-			}
-			if (result != 1) {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Upload:
-		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
-			if ((StartFlag == 1) && (Next_Packet == 0)) {
-				TransferType = Data0;
-				SizeOfTransfer = Count;
-				Next_Packet = 1;
-				Expected_CRC = Data2 << 24;
-				Expected_CRC += Data3 << 16;
-				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += xReceive_Buffer[DATA + 5];
-				SizeOfLastPacket = Data1;
-
-				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
-						* 14 * 4 + SizeOfLastPacket * 4) == true) {
-					DeviceState = outsideDevCapabilities;
-					Aditionals = (uint32_t) Command;
-				} else {
-					uint8_t result = 1;
-					if (TransferType == FW) {
-						switch (currentProgrammingDestination) {
-						case Self_flash:
-							result = PIOS_BL_HELPER_FLASH_Start();
-							break;
-						case Remote_flash_via_spi:
-							result = false;
-							break;
-						default:
-							break;
-						}
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					} else {
-
-						DeviceState = uploading;
-					}
-				}
-			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
-				if (Count > SizeOfTransfer) {
-					DeviceState = too_many_packets;
-					Aditionals = Count;
-				} else if (Count == Next_Packet - 1) {
-					uint8_t numberOfWords = 14;
-					if (Count == SizeOfTransfer - 1)//is this the last packet?
-					{
-						numberOfWords = SizeOfLastPacket;
-					}
-					uint8_t result = 0;
-					switch (currentProgrammingDestination) {
-					case Self_flash:
-						for (uint8_t x = 0; x < numberOfWords; ++x) {
-							offset = 4 * x;
-							Data = xReceive_Buffer[DATA + offset] << 24;
-							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-							Data += xReceive_Buffer[DATA + 3 + offset];
-							aux = baseOfAdressType(TransferType) + (uint32_t)(
-									Count * 14 * 4 + x * 4);
-							result = 0;
-							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-								if (result == 0) {
-									result = (FLASH_ProgramWord(aux, Data)
-											== FLASH_COMPLETE) ? 1 : 0;
-								}
-							}
-						}
-						break;
-					case Remote_flash_via_spi:
-						result = false; // No support for this for the PipX
-						break;
-					default:
-						result = 0;
-						break;
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					}
-
-					++Next_Packet;
-				} else {
-					DeviceState = wrong_packet_received;
-					Aditionals = Count;
-				}
-			} else {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Req_Capabilities:
-		OPDfuIni(true);
-		Buffer[0] = 0x01;
-		Buffer[1] = Rep_Capabilities;
-		if (Data0 == 0) {
-			Buffer[2] = 0;
-			Buffer[3] = 0;
-			Buffer[4] = 0;
-			Buffer[5] = 0;
-			Buffer[6] = 0;
-			Buffer[7] = numberOfDevices;
-			uint16_t WRFlags = 0;
-			for (int x = 0; x < numberOfDevices; ++x) {
-				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
-						| WRFlags);
-			}
-			Buffer[8] = WRFlags >> 8;
-			Buffer[9] = WRFlags;
-		} else {
-			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
-			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
-			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
-			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
-			Buffer[6] = Data0;
-			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
-			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
-			Buffer[9] = devicesTable[Data0 - 1].devID;
-			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
-			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
-			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
-			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
-			Buffer[15] = devicesTable[Data0 - 1].devID;
-		}
-		sendData(Buffer + 1, 63);
-		break;
-	case JumpFW:
-		if (Data == 0x5AFE) {
-			/* Force board into safe mode */
-			PIOS_IAP_WriteBootCount(0xFFFF);
-		}
-		FLASH_Lock();
-		JumpToApp = 1;
-		break;
-	case Reset:
-		PIOS_SYS_Reset();
-		break;
-	case Abort_Operation:
-		Next_Packet = 0;
-		DeviceState = DFUidle;
-		break;
-
-	case Op_END:
-		if (DeviceState == uploading) {
-			if (Next_Packet - 1 == SizeOfTransfer) {
-				Next_Packet = 0;
-				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
-					DeviceState = Last_operation_Success;
-				} else {
-					DeviceState = CRC_Fail;
-				}
-			}
-			if (Next_Packet - 1 < SizeOfTransfer) {
-				Next_Packet = 0;
-				DeviceState = too_few_packets;
-			}
-		}
-		break;
-	case Download_Req:
-#ifdef DEBUG_SSP
-		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
-		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-		if (DeviceState == DFUidle) {
-#ifdef DEBUG_SSP
-			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
-#endif
-			downType = Data0;
-			downPacketTotal = Count;
-			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
-					+ downSizeOfLastPacket * 4) == 1) {
-				DeviceState = outsideDevCapabilities;
-				Aditionals = (uint32_t) Command;
-
-			} else {
-				downPacketCurrent = 0;
-				DeviceState = downloading;
-			}
-		} else {
-			DeviceState = Last_operation_failed;
-			Aditionals = (uint32_t) Command;
-		}
-		break;
-
-	case Status_Request:
-		Buffer[0] = 0x01;
-		Buffer[1] = Status_Rep;
-		if (DeviceState == wrong_packet_received) {
-			Buffer[2] = Aditionals >> 24;
-			Buffer[3] = Aditionals >> 16;
-			Buffer[4] = Aditionals >> 8;
-			Buffer[5] = Aditionals;
-		} else {
-			Buffer[2] = 0;
-			Buffer[3] = ((uint16_t) Aditionals) >> 8;
-			Buffer[4] = ((uint16_t) Aditionals);
-			Buffer[5] = 0;
-		}
-		Buffer[6] = DeviceState;
-		Buffer[7] = 0;
-		Buffer[8] = 0;
-		Buffer[9] = 0;
-		sendData(Buffer + 1, 63);
-		if (DeviceState == Last_operation_Success) {
-			DeviceState = DFUidle;
-		}
-		break;
-	case Status_Rep:
-
-		break;
-
-	}
-	if (EchoReqFlag == 1) {
-		echoBuffer[0] = echoBuffer[0] | (1 << 6);
-		sendData(echoBuffer, 63);
-	}
-	return;
-}
-void OPDfuIni(uint8_t discover) {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	Device dev;
-
-	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = bdinfo->bl_rev;
-	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = bdinfo->hw_type;
-	numberOfDevices = 1;
-	devicesTable[0] = dev;
-	if (discover) {
-		//TODO check other devices trough spi or whatever
-	}
-}
-uint32_t baseOfAdressType(DFUTransfer type) {
-	switch (type) {
-	case FW:
-		return currentDevice.startOfUserCode;
-		break;
-	case Descript:
-		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
-		break;
-	default:
-
-		return 0;
-	}
-}
-uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
-	switch (type) {
-	case FW:
-		return (size > currentDevice.sizeOfCode) ? 1 : 0;
-		break;
-	case Descript:
-		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
-		break;
-	default:
-		return true;
-	}
-}
-
-uint32_t CalcFirmCRC() {
-	switch (currentProgrammingDestination) {
-	case Self_flash:
-		return PIOS_BL_HELPER_CRC_Memory_Calc();
-		break;
-	case Remote_flash_via_spi:
-		return 0;
-		break;
-	default:
-		return 0;
-		break;
-	}
-
-}
-void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-}
-
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
-	switch (type) {
-	case Remote_flash_via_spi:
-		return false; // We should not get this for the PipX
-		break;
-	case Self_flash:
-		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
-		}
-		return true;
-		break;
-	default:
-		return false;
-	}
-}
diff --git a/flight/targets/Bootloaders/Revolution/inc/op_dfu.h b/flight/targets/Bootloaders/Revolution/inc/op_dfu.h
deleted file mode 100644
index e031c3364..000000000
--- a/flight/targets/Bootloaders/Revolution/inc/op_dfu.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       op_dfu.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __OP_DFU_H
-#define __OP_DFU_H
-#include "common.h"
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef struct {
-	uint8_t programmingType;
-	uint8_t readWriteFlags;
-	uint32_t startOfUserCode;
-	uint32_t sizeOfCode;
-	uint8_t sizeOfDescription;
-	uint8_t BL_Version;
-	uint16_t devID;
-	DeviceType devType;
-	uint32_t FW_Crc;
-} Device;
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define COMMAND	0
-#define COUNT	1
-#define DATA	5
-
-/* Exported functions ------------------------------------------------------- */
-void processComand(uint8_t *Receive_Buffer);
-uint32_t baseOfAdressType(uint8_t type);
-uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
-void OPDfuIni(uint8_t discover);
-void DataDownload(DownloadAction);
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
-#endif /* __OP_DFU_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
diff --git a/flight/targets/Bootloaders/Revolution/op_dfu.c b/flight/targets/Bootloaders/Revolution/op_dfu.c
deleted file mode 100644
index 3aceedcfb..000000000
--- a/flight/targets/Bootloaders/Revolution/op_dfu.c
+++ /dev/null
@@ -1,468 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup CopterControlBL CopterControl BootLoader
- * @brief These files contain the code to the CopterControl Bootloader.
- *
- * @{
- * @file       op_dfu.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      This file contains the DFU commands handling code
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
-#include <pios_board_info.h>
-//programmable devices
-Device devicesTable[10];
-uint8_t numberOfDevices = 0;
-
-DFUProgType currentProgrammingDestination; //flash, flash_trough spi
-uint8_t currentDeviceCanRead;
-uint8_t currentDeviceCanWrite;
-Device currentDevice;
-
-uint8_t Buffer[64];
-uint8_t echoBuffer[64];
-uint8_t SendBuffer[64];
-uint8_t Command = 0;
-uint8_t EchoReqFlag = 0;
-uint8_t EchoAnsFlag = 0;
-uint8_t StartFlag = 0;
-uint32_t Aditionals = 0;
-uint32_t SizeOfTransfer = 0;
-uint32_t Expected_CRC = 0;
-uint8_t SizeOfLastPacket = 0;
-uint32_t Next_Packet = 0;
-uint8_t TransferType;
-uint32_t Count = 0;
-uint32_t Data;
-uint8_t Data0;
-uint8_t Data1;
-uint8_t Data2;
-uint8_t Data3;
-uint8_t offset = 0;
-uint32_t aux;
-//Download vars
-uint32_t downSizeOfLastPacket = 0;
-uint32_t downPacketTotal = 0;
-uint32_t downPacketCurrent = 0;
-DFUTransfer downType = 0;
-/* Extern variables ----------------------------------------------------------*/
-extern DFUStates DeviceState;
-extern uint8_t JumpToApp;
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-void sendData(uint8_t * buf, uint16_t size);
-uint32_t CalcFirmCRC(void);
-
-void DataDownload(DownloadAction action) {
-	if ((DeviceState == downloading)) {
-
-		uint8_t packetSize;
-		uint32_t offset;
-		uint32_t partoffset;
-		SendBuffer[0] = 0x01;
-		SendBuffer[1] = Download;
-		SendBuffer[2] = downPacketCurrent >> 24;
-		SendBuffer[3] = downPacketCurrent >> 16;
-		SendBuffer[4] = downPacketCurrent >> 8;
-		SendBuffer[5] = downPacketCurrent;
-		if (downPacketCurrent == downPacketTotal - 1) {
-			packetSize = downSizeOfLastPacket;
-		} else {
-			packetSize = 14;
-		}
-		for (uint8_t x = 0; x < packetSize; ++x) {
-			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
-			offset = baseOfAdressType(downType) + partoffset;
-			if (!flash_read(SendBuffer + (6 + x * 4), offset,
-					currentProgrammingDestination)) {
-				DeviceState = Last_operation_failed;
-			}
-		}
-		downPacketCurrent = downPacketCurrent + 1;
-		if (downPacketCurrent > downPacketTotal - 1) {
-			DeviceState = Last_operation_Success;
-			Aditionals = (uint32_t) Download;
-		}
-		sendData(SendBuffer + 1, 63);
-	}
-}
-void processComand(uint8_t *xReceive_Buffer) {
-
-	Command = xReceive_Buffer[COMMAND];
-#ifdef DEBUG_SSP
-	char str[63]= {0};
-	sprintf(str,"Received COMMAND:%d|",Command);
-	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-	EchoReqFlag = (Command >> 7);
-	EchoAnsFlag = (Command >> 6) & 0x01;
-	StartFlag = (Command >> 5) & 0x01;
-	Count = xReceive_Buffer[COUNT] << 24;
-	Count += xReceive_Buffer[COUNT + 1] << 16;
-	Count += xReceive_Buffer[COUNT + 2] << 8;
-	Count += xReceive_Buffer[COUNT + 3];
-
-	Data = xReceive_Buffer[DATA] << 24;
-	Data += xReceive_Buffer[DATA + 1] << 16;
-	Data += xReceive_Buffer[DATA + 2] << 8;
-	Data += xReceive_Buffer[DATA + 3];
-	Data0 = xReceive_Buffer[DATA];
-	Data1 = xReceive_Buffer[DATA + 1];
-	Data2 = xReceive_Buffer[DATA + 2];
-	Data3 = xReceive_Buffer[DATA + 3];
-	Command = Command & 0b00011111;
-
-	if (EchoReqFlag == 1) {
-		memcpy(echoBuffer, xReceive_Buffer, 64);
-	}
-	switch (Command) {
-	case EnterDFU:
-		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
-				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
-				OPDfuIni(true);
-			DeviceState = DFUidle;
-			currentProgrammingDestination = devicesTable[Data0].programmingType;
-			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
-			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
-					& 0x01;
-			currentDevice = devicesTable[Data0];
-			uint8_t result = 0;
-			switch (currentProgrammingDestination) {
-			case Self_flash:
-				result = PIOS_BL_HELPER_FLASH_Ini();
-				break;
-			case Remote_flash_via_spi:
-				result = true;
-				break;
-			default:
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint16_t) Command;
-			}
-			if (result != 1) {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Upload:
-		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
-			if ((StartFlag == 1) && (Next_Packet == 0)) {
-				TransferType = Data0;
-				SizeOfTransfer = Count;
-				Next_Packet = 1;
-				Expected_CRC = Data2 << 24;
-				Expected_CRC += Data3 << 16;
-				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
-				Expected_CRC += xReceive_Buffer[DATA + 5];
-				SizeOfLastPacket = Data1;
-
-				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
-						* 14 * 4 + SizeOfLastPacket * 4) == true) {
-					DeviceState = outsideDevCapabilities;
-					Aditionals = (uint32_t) Command;
-				} else {
-					uint8_t result = 1;
-					if (TransferType == FW) {
-						switch (currentProgrammingDestination) {
-						case Self_flash:
-							result = PIOS_BL_HELPER_FLASH_Start();
-							break;
-						case Remote_flash_via_spi:
-							result = false;
-							break;
-						default:
-							break;
-						}
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					} else {
-
-						DeviceState = uploading;
-					}
-				}
-			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
-				if (Count > SizeOfTransfer) {
-					DeviceState = too_many_packets;
-					Aditionals = Count;
-				} else if (Count == Next_Packet - 1) {
-					uint8_t numberOfWords = 14;
-					if (Count == SizeOfTransfer - 1)//is this the last packet?
-					{
-						numberOfWords = SizeOfLastPacket;
-					}
-					uint8_t result = 0;
-					switch (currentProgrammingDestination) {
-					case Self_flash:
-						for (uint8_t x = 0; x < numberOfWords; ++x) {
-							offset = 4 * x;
-							Data = xReceive_Buffer[DATA + offset] << 24;
-							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
-							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
-							Data += xReceive_Buffer[DATA + 3 + offset];
-							aux = baseOfAdressType(TransferType) + (uint32_t)(
-									Count * 14 * 4 + x * 4);
-							result = 0;
-							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
-								if (result == 0) {
-									result = (FLASH_ProgramWord(aux, Data)
-											== FLASH_COMPLETE) ? 1 : 0;
-								}
-							}
-						}
-						break;
-					case Remote_flash_via_spi:
-						result = false; // No support for this for the PipX
-						break;
-					default:
-						result = 0;
-						break;
-					}
-					if (result != 1) {
-						DeviceState = Last_operation_failed;
-						Aditionals = (uint32_t) Command;
-					}
-
-					++Next_Packet;
-				} else {
-					DeviceState = wrong_packet_received;
-					Aditionals = Count;
-				}
-			} else {
-				DeviceState = Last_operation_failed;
-				Aditionals = (uint32_t) Command;
-			}
-		}
-		break;
-	case Req_Capabilities:
-		OPDfuIni(true);
-		Buffer[0] = 0x01;
-		Buffer[1] = Rep_Capabilities;
-		if (Data0 == 0) {
-			Buffer[2] = 0;
-			Buffer[3] = 0;
-			Buffer[4] = 0;
-			Buffer[5] = 0;
-			Buffer[6] = 0;
-			Buffer[7] = numberOfDevices;
-			uint16_t WRFlags = 0;
-			for (int x = 0; x < numberOfDevices; ++x) {
-				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
-						| WRFlags);
-			}
-			Buffer[8] = WRFlags >> 8;
-			Buffer[9] = WRFlags;
-		} else {
-			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
-			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
-			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
-			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
-			Buffer[6] = Data0;
-			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
-			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
-			Buffer[9] = devicesTable[Data0 - 1].devID;
-			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
-			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
-			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
-			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
-			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
-			Buffer[15] = devicesTable[Data0 - 1].devID;
-		}
-		sendData(Buffer + 1, 63);
-		break;
-	case JumpFW:
-		if (Data == 0x5AFE) {
-			/* Force board into safe mode */
-			PIOS_IAP_WriteBootCount(0xFFFF);
-		}
-		FLASH_Lock();
-		JumpToApp = 1;
-		break;
-	case Reset:
-		PIOS_SYS_Reset();
-		break;
-	case Abort_Operation:
-		Next_Packet = 0;
-		DeviceState = DFUidle;
-		break;
-
-	case Op_END:
-		if (DeviceState == uploading) {
-			if (Next_Packet - 1 == SizeOfTransfer) {
-				Next_Packet = 0;
-				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
-					DeviceState = Last_operation_Success;
-				} else {
-					DeviceState = CRC_Fail;
-				}
-			}
-			if (Next_Packet - 1 < SizeOfTransfer) {
-				Next_Packet = 0;
-				DeviceState = too_few_packets;
-			}
-		}
-		break;
-	case Download_Req:
-#ifdef DEBUG_SSP
-		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
-		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
-#endif
-		if (DeviceState == DFUidle) {
-#ifdef DEBUG_SSP
-			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
-#endif
-			downType = Data0;
-			downPacketTotal = Count;
-			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
-					+ downSizeOfLastPacket * 4) == 1) {
-				DeviceState = outsideDevCapabilities;
-				Aditionals = (uint32_t) Command;
-
-			} else {
-				downPacketCurrent = 0;
-				DeviceState = downloading;
-			}
-		} else {
-			DeviceState = Last_operation_failed;
-			Aditionals = (uint32_t) Command;
-		}
-		break;
-
-	case Status_Request:
-		Buffer[0] = 0x01;
-		Buffer[1] = Status_Rep;
-		if (DeviceState == wrong_packet_received) {
-			Buffer[2] = Aditionals >> 24;
-			Buffer[3] = Aditionals >> 16;
-			Buffer[4] = Aditionals >> 8;
-			Buffer[5] = Aditionals;
-		} else {
-			Buffer[2] = 0;
-			Buffer[3] = ((uint16_t) Aditionals) >> 8;
-			Buffer[4] = ((uint16_t) Aditionals);
-			Buffer[5] = 0;
-		}
-		Buffer[6] = DeviceState;
-		Buffer[7] = 0;
-		Buffer[8] = 0;
-		Buffer[9] = 0;
-		sendData(Buffer + 1, 63);
-		if (DeviceState == Last_operation_Success) {
-			DeviceState = DFUidle;
-		}
-		break;
-	case Status_Rep:
-
-		break;
-
-	}
-	if (EchoReqFlag == 1) {
-		echoBuffer[0] = echoBuffer[0] | (1 << 6);
-		sendData(echoBuffer, 63);
-	}
-	return;
-}
-void OPDfuIni(uint8_t discover) {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	Device dev;
-
-	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = bdinfo->bl_rev;
-	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = bdinfo->hw_type;
-	numberOfDevices = 1;
-	devicesTable[0] = dev;
-	if (discover) {
-		//TODO check other devices trough spi or whatever
-	}
-}
-uint32_t baseOfAdressType(DFUTransfer type) {
-	switch (type) {
-	case FW:
-		return currentDevice.startOfUserCode;
-		break;
-	case Descript:
-		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
-		break;
-	default:
-
-		return 0;
-	}
-}
-uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
-	switch (type) {
-	case FW:
-		return (size > currentDevice.sizeOfCode) ? 1 : 0;
-		break;
-	case Descript:
-		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
-		break;
-	default:
-		return true;
-	}
-}
-
-uint32_t CalcFirmCRC() {
-	switch (currentProgrammingDestination) {
-	case Self_flash:
-		return PIOS_BL_HELPER_CRC_Memory_Calc();
-		break;
-	case Remote_flash_via_spi:
-		return 0;
-		break;
-	default:
-		return 0;
-		break;
-	}
-
-}
-void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-}
-
-bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
-	switch (type) {
-	case Remote_flash_via_spi:
-		return false; // We should not get this for the PipX
-		break;
-	case Self_flash:
-		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
-		}
-		return true;
-		break;
-	default:
-		return false;
-	}
-}
diff --git a/flight/targets/CopterControl/System/pios_board.c b/flight/targets/CopterControl/System/pios_board.c
index 86ee24309..2cd4cdef0 100644
--- a/flight/targets/CopterControl/System/pios_board.c
+++ b/flight/targets/CopterControl/System/pios_board.c
@@ -196,7 +196,18 @@ void PIOS_Board_Init(void) {
 	/* Initialize the real-time clock and its associated tick */
 	PIOS_RTC_Init(&pios_rtc_main_cfg);
 #endif
-
+	PIOS_IAP_Init();
+	// check for safe mode commands from gcs
+	if(PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
+	   PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
+	   PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2)
+	{
+	    PIOS_FLASHFS_Format(fs_id);
+		 PIOS_IAP_WriteBootCmd(0,0);
+		 PIOS_IAP_WriteBootCmd(1,0);
+		 PIOS_IAP_WriteBootCmd(2,0);
+	}
+	
 	HwSettingsInitialize();
 
 #ifndef ERASE_FLASH
@@ -208,7 +219,6 @@ void PIOS_Board_Init(void) {
 	AlarmsInitialize();
 
 	/* Check for repeated boot failures */
-	PIOS_IAP_Init();
 	uint16_t boot_count = PIOS_IAP_ReadBootCount();
 	if (boot_count < 3) {
 		PIOS_IAP_WriteBootCount(++boot_count);
@@ -792,7 +802,7 @@ void PIOS_Board_Init(void) {
 #endif
 			break;
 		case BOARD_REVISION_CC3D:
-			// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
+			// Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
 			GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
 
 #if defined(PIOS_INCLUDE_MPU6000)
diff --git a/flight/targets/PipXtreme/System/pios_board.c b/flight/targets/PipXtreme/System/pios_board.c
index 5dd59dc3d..06cf70beb 100644
--- a/flight/targets/PipXtreme/System/pios_board.c
+++ b/flight/targets/PipXtreme/System/pios_board.c
@@ -101,6 +101,23 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_FLASH_EEPROM)
  	PIOS_EEPROM_Init(&pios_eeprom_cfg);
 
+	/* IAP System Setup */
+	PIOS_IAP_Init();
+	// check for safe mode commands from gcs
+	if(PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
+	   PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
+	   PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
+		OPLinkSettingsGet(&oplinkSettings);
+		OPLinkSettingsSetDefaults(&oplinkSettings,0);
+		PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
+		for (uint32_t i = 0; i < 10; i++) {
+			PIOS_DELAY_WaitmS(100);
+			PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+		}	
+		PIOS_IAP_WriteBootCmd(0,0);
+		PIOS_IAP_WriteBootCmd(1,0);
+		PIOS_IAP_WriteBootCmd(2,0);
+	}
 	/* Read the settings from flash. */
 	/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
 	if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
@@ -125,10 +142,11 @@ void PIOS_Board_Init(void) {
 	/* Initialize board specific USB data */
 	PIOS_USB_BOARD_DATA_Init();
 
+
+#if defined(PIOS_INCLUDE_USB_CDC)
 	/* Flags to determine if various USB interfaces are advertised */
 	bool usb_cdc_present = false;
 
-#if defined(PIOS_INCLUDE_USB_CDC)
 	if (PIOS_USB_DESC_HID_CDC_Init()) {
 		PIOS_Assert(0);
 	}
diff --git a/flight/targets/RevoMini/System/pios_board.c b/flight/targets/RevoMini/System/pios_board.c
index 43a8813f0..c5ec7113f 100644
--- a/flight/targets/RevoMini/System/pios_board.c
+++ b/flight/targets/RevoMini/System/pios_board.c
@@ -346,17 +346,28 @@ void PIOS_Board_Init(void) {
 	}
 
 #endif
+	
+#if defined(PIOS_INCLUDE_RTC)
+	PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+	/* IAP System Setup */
+	PIOS_IAP_Init();
+	// check for safe mode commands from gcs
+	if(PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
+	   PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
+	   PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2)
+	{
+		 PIOS_FLASHFS_Format(fs_id);
+		 PIOS_IAP_WriteBootCmd(0,0);
+		 PIOS_IAP_WriteBootCmd(1,0);
+		 PIOS_IAP_WriteBootCmd(2,0);
+	}
 
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 	
 	HwSettingsInitialize();
-	
-#if defined(PIOS_INCLUDE_RTC)
-	PIOS_RTC_Init(&pios_rtc_main_cfg);
-#endif
-
 	/* Initialize the alarms library */
 	AlarmsInitialize();
 
@@ -373,8 +384,7 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_10_cfg);
 	PIOS_TIM_InitClock(&tim_11_cfg);
 	PIOS_TIM_InitClock(&tim_12_cfg);
-	/* IAP System Setup */
-	PIOS_IAP_Init();
+	
 	uint16_t boot_count = PIOS_IAP_ReadBootCount();
 	if (boot_count < 3) {
 		PIOS_IAP_WriteBootCount(++boot_count);
diff --git a/flight/targets/Revolution/System/pios_board.c b/flight/targets/Revolution/System/pios_board.c
index f68118801..5cbdb46f2 100644
--- a/flight/targets/Revolution/System/pios_board.c
+++ b/flight/targets/Revolution/System/pios_board.c
@@ -401,15 +401,28 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 
+#if defined(PIOS_INCLUDE_RTC)
+	PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+
+	/* IAP System Setup */
+	PIOS_IAP_Init();
+	// check for safe mode commands from gcs
+	if(PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
+	   PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
+	   PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2)
+	{
+		 PIOS_FLASHFS_Format(fs_id);
+		 PIOS_IAP_WriteBootCmd(0,0);
+		 PIOS_IAP_WriteBootCmd(1,0);
+		 PIOS_IAP_WriteBootCmd(2,0);
+	}
+
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 	
 	HwSettingsInitialize();
-	
-#if defined(PIOS_INCLUDE_RTC)
-	PIOS_RTC_Init(&pios_rtc_main_cfg);
-#endif
 
 	/* Initialize the alarms library */
 	AlarmsInitialize();
@@ -427,8 +440,6 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_10_cfg);
 	PIOS_TIM_InitClock(&tim_11_cfg);
 
-	/* IAP System Setup */
-	PIOS_IAP_Init();
 	uint16_t boot_count = PIOS_IAP_ReadBootCount();
 	if (boot_count < 3) {
 		PIOS_IAP_WriteBootCount(++boot_count);
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index ae41544d9..a2cc5a50c 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -510,11 +510,10 @@ int DFUObject::AbortOperation(void)
 
     return sendData(buf, BUF_LEN);
 }
-
 /**
   Starts the firmware (leaves bootloader and boots the main software)
   */
-int DFUObject::JumpToApp(bool safeboot)
+int DFUObject::JumpToApp(bool safeboot, bool erase)
 {
     char buf[BUF_LEN];
     buf[0] =0x02;//reportID
@@ -536,6 +535,39 @@ int DFUObject::JumpToApp(bool safeboot)
         buf[8] = 0;
         buf[9] = 0;
     }
+    if(erase)
+	{
+	// force data flash clear
+		buf[10] = 0x00;
+		buf[11] = 0x00;
+		buf[12] = 0xFA;
+		buf[13] = 0x5F;
+
+		buf[14] = 0x00;
+		buf[15] = 0x00;
+		buf[16] = 0x00;
+		buf[17] = 0x01;
+
+		buf[18] = 0x00;
+		buf[19] = 0x00;
+		buf[20] = 0x00;
+		buf[21] = 0x00;
+	} else {
+		buf[10] = 0x00;
+		buf[11] = 0x00;
+		buf[12] = 0x00;
+		buf[13] = 0x00;
+
+		buf[14] = 0x00;
+		buf[15] = 0x00;
+		buf[16] = 0x00;
+		buf[17] = 0x00;
+
+		buf[18] = 0x00;
+		buf[19] = 0x00;
+		buf[20] = 0x00;
+		buf[21] = 0x00;
+	}
 
     return sendData(buf, BUF_LEN);
 }
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
index 92cbafd9c..14615943d 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
@@ -119,7 +119,7 @@ namespace OP_DFU {
     {
         Q_OBJECT;
 
-        public:
+	public:
         static quint32 CRCFromQBArray(QByteArray array, quint32 Size);
         //DFUObject(bool debug);
         DFUObject(bool debug,bool use_serial,QString port);
@@ -129,7 +129,7 @@ namespace OP_DFU {
         // Service commands:
         bool enterDFU(int const &devNumber);
         bool findDevices();
-        int JumpToApp(bool);
+        int JumpToApp(bool safeboot, bool erase);
         int ResetDevice(void);
         OP_DFU::Status StatusRequest();
         bool EndOperation();
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
index 397573535..6fbf6950e 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
@@ -68,6 +68,24 @@ menu on the right.</string>
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QPushButton" name="eraseBootButton">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="toolTip">
+        <string>Reboot the board and clear its settings memory.
+        Useful if the board cannot boot properly.
+        Blue led starts blinking quick for 20-30 seconds than the board will start normally
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.</string>
+       </property>
+       <property name="text">
+        <string>Erase settings</string>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QPushButton" name="resetButton">
        <property name="enabled">
@@ -186,14 +204,14 @@ halting a running board.</string>
            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Connect telemetry&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You will get a list of devices.&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;- Connect telemetry&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;- You will get a list of devices.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
           </property>
          </widget>
         </item>
@@ -208,8 +226,8 @@ p, li { white-space: pre-wrap; }
        <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
       </property>
      </widget>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 86c7ffcd6..6150e9a29 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -54,6 +54,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
     connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
     connect(m_config->safeBootButton, SIGNAL(clicked()), this, SLOT(systemSafeBoot()));
+    connect(m_config->eraseBootButton, SIGNAL(clicked()), this, SLOT(systemEraseBoot()));
     connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue()));
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
     connect(cm,SIGNAL(deviceConnected(QIODevice*)),this,SLOT(onPhisicalHWConnect()));
@@ -135,10 +136,16 @@ FlightStatus *UploaderGadgetWidget::getFlightStatus()
     return status;
 }
 
+void UploaderGadgetWidget::bootButtonsSetEnable(bool enabled)
+{
+    m_config->bootButton->setEnabled(enabled);
+    m_config->safeBootButton->setEnabled(enabled);
+    m_config->eraseBootButton->setEnabled(enabled);
+}
+
 void UploaderGadgetWidget::onPhisicalHWConnect()
 {
-    m_config->bootButton->setEnabled(false);
-    m_config->safeBootButton->setEnabled(false);
+    bootButtonsSetEnable(false);
     m_config->rescueButton->setEnabled(false);
     m_config->telemetryLink->setEnabled(false);
 }
@@ -154,8 +161,7 @@ void UploaderGadgetWidget::populate()
 {
     m_config->haltButton->setEnabled(true);
     m_config->resetButton->setEnabled(true);
-    m_config->safeBootButton->setEnabled(false);
-    m_config->bootButton->setEnabled(false);
+    bootButtonsSetEnable(false);
     m_config->rescueButton->setEnabled(false);
     m_config->telemetryLink->setEnabled(false);
 
@@ -177,8 +183,7 @@ void UploaderGadgetWidget::populate()
 void UploaderGadgetWidget::onAutopilotDisconnect(){
     m_config->haltButton->setEnabled(false);
     m_config->resetButton->setEnabled(false);
-    m_config->bootButton->setEnabled(true);
-    m_config->safeBootButton->setEnabled(true);
+    bootButtonsSetEnable(true);
     if (currentStep == IAP_STATE_BOOTLOADER) {
         m_config->rescueButton->setEnabled(false);
         m_config->telemetryLink->setEnabled(false);
@@ -344,8 +349,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
         m_config->resetButton->setEnabled(false);
         */
         // Need to re-enable in case we were not connected
-        m_config->bootButton->setEnabled(true);
-        m_config->safeBootButton->setEnabled(true);
+        bootButtonsSetEnable(true);
         /*
         m_config->telemetryLink->setEnabled(false);
         m_config->rescueButton->setEnabled(false);
@@ -420,23 +424,38 @@ void UploaderGadgetWidget::systemReset()
 
 void UploaderGadgetWidget::systemBoot()
 {
-  commonSystemBoot(false);
+  commonSystemBoot(false, false);
 }
 
 void UploaderGadgetWidget::systemSafeBoot()
 {
-  commonSystemBoot(true);
+  commonSystemBoot(true, false);
+}
+
+void UploaderGadgetWidget::systemEraseBoot()
+{
+	QMessageBox msgBox;
+	int result;
+	msgBox.setWindowTitle(tr("Erase Settings"));
+	msgBox.setInformativeText(tr("Do you want to erase all settings from the board?\nSettings cannot be recovered after this operation.\nThe board will be restarted and all the setting erased"));
+	msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel | QMessageBox::Help);
+	result = msgBox.exec();
+	if(result == QMessageBox::Ok)
+	{
+		commonSystemBoot(true, true);
+	} else if(result == QMessageBox::Help) {
+		QDesktopServices::openUrl( QUrl(tr("http://wiki.openpilot.org/display/Doc/Erase+board+settings"), QUrl::StrictMode) );
+	}
 }
 
 /**
   * Tells the system to boot (from Bootloader state)
   * @param[in] safeboot Indicates whether the firmware should use the stock HWSettings
   */
-void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
+void UploaderGadgetWidget::commonSystemBoot(bool safeboot, bool erase)
 {
     clearLog();
-    m_config->bootButton->setEnabled(false);
-    m_config->safeBootButton->setEnabled(false);
+    bootButtonsSetEnable(false);
 
     // Suspend telemety & polling in case it is not done yet
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
@@ -459,13 +478,12 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
         log("Could not enter DFU mode.");
         delete dfu;
         dfu = NULL;
-        m_config->bootButton->setEnabled(true);
-        m_config->safeBootButton->setEnabled(true);
+        bootButtonsSetEnable(true);
         m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK?
         return;
     }
     log("Booting system...");
-    dfu->JumpToApp(safeboot);
+    dfu->JumpToApp(safeboot, erase);
     // Restart the polling thread
     cm->resumePolling();
     m_config->rescueButton->setEnabled(true);
@@ -738,8 +756,7 @@ void UploaderGadgetWidget::systemRescue()
     }
     m_config->haltButton->setEnabled(false);
     m_config->resetButton->setEnabled(false);
-    m_config->bootButton->setEnabled(true);
-    m_config->safeBootButton->setEnabled(true);
+    bootButtonsSetEnable(true);
     m_config->rescueButton->setEnabled(false);
     currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
 }
@@ -773,8 +790,7 @@ void UploaderGadgetWidget::cancel()
 void UploaderGadgetWidget::uploadStarted()
 {
     m_config->haltButton->setEnabled(false);
-    m_config->bootButton->setEnabled(false);
-    m_config->safeBootButton->setEnabled(false);
+    bootButtonsSetEnable(false);
     m_config->resetButton->setEnabled(false);
     m_config->rescueButton->setEnabled(false);
 }
@@ -784,8 +800,7 @@ void UploaderGadgetWidget::uploadEnded(bool succeed)
     Q_UNUSED(succeed);
     // device is halted so no halt
     m_config->haltButton->setEnabled(false);
-    m_config->bootButton->setEnabled(true);
-    m_config->safeBootButton->setEnabled(true);
+    bootButtonsSetEnable(true);
     // device is halted so no reset
     m_config->resetButton->setEnabled(false);
     m_config->rescueButton->setEnabled(true);
@@ -794,8 +809,7 @@ void UploaderGadgetWidget::uploadEnded(bool succeed)
 void UploaderGadgetWidget::downloadStarted()
 {
     m_config->haltButton->setEnabled(false);
-    m_config->bootButton->setEnabled(false);
-    m_config->safeBootButton->setEnabled(false);
+    bootButtonsSetEnable(false);
     m_config->resetButton->setEnabled(false);
     m_config->rescueButton->setEnabled(false);
 }
@@ -805,8 +819,7 @@ void UploaderGadgetWidget::downloadEnded(bool succeed)
     Q_UNUSED(succeed);
     // device is halted so no halt
     m_config->haltButton->setEnabled(false);
-    m_config->bootButton->setEnabled(true);
-    m_config->safeBootButton->setEnabled(true);
+    bootButtonsSetEnable(true);
     // device is halted so no reset
     m_config->resetButton->setEnabled(false);
     m_config->rescueButton->setEnabled(true);
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
index 3e3b0f504..0654aa1cc 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
@@ -97,6 +97,7 @@ private:
      void connectSignalSlot(QWidget * widget);
      int autoUpdateConnectTimeout;
      FlightStatus * getFlightStatus();
+     void bootButtonsSetEnable(bool enabled);
 private slots:
     void onPhisicalHWConnect();
     void versionMatchCheck();
@@ -107,7 +108,8 @@ private slots:
     void systemReset();
     void systemBoot();
     void systemSafeBoot();
-    void commonSystemBoot(bool = false);
+	void systemEraseBoot();
+	void commonSystemBoot(bool safeboot = false, bool erase = false);
     void systemRescue();
     void getSerialPorts();
     void perform();
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 3e2c86b37..fb9c6d3e0 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -75,6 +75,7 @@ SRC += $(PIOSCOMMON)/pios_video.c
 SRC += $(PIOSCOMMON)/pios_wavplay.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/pios_crc.c
diff --git a/make/boards/coptercontrol/board-info.mk b/make/boards/coptercontrol/board-info.mk
index 674ad4152..72dab8625 100644
--- a/make/boards/coptercontrol/board-info.mk
+++ b/make/boards/coptercontrol/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x04
 BOARD_REVISION      := 0x02
-BOOTLOADER_VERSION  := 0x03
+BOOTLOADER_VERSION  := 0x04
 HW_TYPE             := 0x01
 
 MCU                 := cortex-m3
diff --git a/make/boards/osd/board-info.mk b/make/boards/osd/board-info.mk
index d82d30319..3e707366c 100644
--- a/make/boards/osd/board-info.mk
+++ b/make/boards/osd/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x05
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x01
+BOOTLOADER_VERSION  := 0x04
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4
diff --git a/make/boards/pipxtreme/board-info.mk b/make/boards/pipxtreme/board-info.mk
index 0a3e888c7..7a3bccb43 100644
--- a/make/boards/pipxtreme/board-info.mk
+++ b/make/boards/pipxtreme/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x03
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x02
+BOOTLOADER_VERSION  := 0x04
 HW_TYPE             := 0x01
 
 MCU                 := cortex-m3
diff --git a/make/boards/revolution/board-info.mk b/make/boards/revolution/board-info.mk
index 6cdd659a8..1e247d4d5 100644
--- a/make/boards/revolution/board-info.mk
+++ b/make/boards/revolution/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x09
 BOARD_REVISION      := 0x02
-BOOTLOADER_VERSION  := 0x01
+BOOTLOADER_VERSION  := 0x04
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4
diff --git a/make/boards/revomini/board-info.mk b/make/boards/revomini/board-info.mk
index 799ffd382..feee44d4e 100644
--- a/make/boards/revomini/board-info.mk
+++ b/make/boards/revomini/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x09
 BOARD_REVISION      := 0x03
-BOOTLOADER_VERSION  := 0x01
+BOOTLOADER_VERSION  := 0x04
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m4
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index 5c0bbf32e..06919e070 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -48,15 +48,16 @@ endif
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/pios_usb_board_data.c
-SRC += $(OPSYSTEM)/op_dfu.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_board_info.c
 SRC += $(PIOSCOMMON)/pios_com_msg.c
+SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 SRC += $(PIOSCOMMON)/pios_usb_util.c
 
 ## Misc library functions
+SRC += $(FLIGHTLIB)/op_dfu.c
 SRC += $(FLIGHTLIB)/printf-stdarg.c
 
 # List C source files here which must be compiled in ARM-Mode (no -mthumb).

From cc446260a7c85ead0b2687fb214b5a02a39bcc4e Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 8 Apr 2013 01:31:29 +0200
Subject: [PATCH 031/125] OP-874 Enable the Erase Setting button only with BL
 ver >=4. Describe this this on the tooltip.

+review OPReview-421
---
 .../openpilotgcs/src/plugins/uploader/uploader.ui   | 13 ++++---------
 .../src/plugins/uploader/uploadergadgetwidget.cpp   |  9 +++++++--
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
index 6fbf6950e..c07798b98 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
@@ -35,7 +35,7 @@ through serial or USB)</string>
      <item>
       <widget class="QPushButton" name="bootButton">
        <property name="enabled">
-        <bool>true</bool>
+        <bool>false</bool>
        </property>
        <property name="toolTip">
         <string>Boots the system.
@@ -53,7 +53,7 @@ menu on the right.</string>
      <item>
       <widget class="QPushButton" name="safeBootButton">
        <property name="enabled">
-        <bool>true</bool>
+        <bool>false</bool>
        </property>
        <property name="toolTip">
         <string>Boots the system into safe mode (ie. default HwSettings).
@@ -71,15 +71,10 @@ menu on the right.</string>
      <item>
       <widget class="QPushButton" name="eraseBootButton">
        <property name="enabled">
-        <bool>true</bool>
+        <bool>false</bool>
        </property>
        <property name="toolTip">
-        <string>Reboot the board and clear its settings memory.
-        Useful if the board cannot boot properly.
-        Blue led starts blinking quick for 20-30 seconds than the board will start normally
-
-If telemetry is not running, select the link using the dropdown
-menu on the right.</string>
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
        </property>
        <property name="text">
         <string>Erase settings</string>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 6150e9a29..2db6d0b34 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -140,8 +140,13 @@ void UploaderGadgetWidget::bootButtonsSetEnable(bool enabled)
 {
     m_config->bootButton->setEnabled(enabled);
     m_config->safeBootButton->setEnabled(enabled);
-    m_config->eraseBootButton->setEnabled(enabled);
-}
+
+
+		m_config->eraseBootButton->setEnabled(
+					enabled &&
+					// this feature is supported only on BL revision >= 4
+					((dfu != NULL) && (dfu->devices[0].BL_Version >= 4)));
+	}
 
 void UploaderGadgetWidget::onPhisicalHWConnect()
 {

From 81156ad132fcc49a566bff471b57ef6b53d011aa Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 8 Apr 2013 22:55:49 +0200
Subject: [PATCH 032/125] OP-900 Changed memory allocation strategy for F1 to
 use portBYTE_ALIGNMENT alignment for stacks and portBYTE_HEAP_ALIGNMENT for
 generic mallocs

+review OPReview-435
---
 .../FreeRTOS/Source/portable/MemMang/heap_1.c  | 18 ++++++++++++------
 .../Source/portable/GCC/ARM_CM3/portmacro.h    |  3 ++-
 .../Source/portable/GCC/ARM_CM4F/portmacro.h   |  2 +-
 .../CopterControl/System/inc/FreeRTOSConfig.h  |  2 ++
 .../PipXtreme/System/inc/FreeRTOSConfig.h      |  2 ++
 5 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
index 66ffcaaec..1164e735d 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -98,23 +98,24 @@ static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]  __attribute__ ((section ("
 static size_t xNextFreeByte = ( size_t ) 0;
 
 static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
 
 /* A few bytes might be lost to byte aligning the heap start address. */
 #define configADJUSTED_HEAP_SIZE    (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
 
 /*-----------------------------------------------------------*/
 
-void *pvPortMalloc( size_t xWantedSize )
+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment)
 {
 void *pvReturn = NULL;
 static unsigned char *pucAlignedHeap = NULL;
-
+size_t mask = alignment-1;
 	/* Ensure that blocks are always aligned to the required number of bytes. */
 	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+		if( xWantedSize & mask )
 		{
-			/* Byte alignment required. */
-			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+		    			/* Byte alignment required. */
+			xWantedSize += ( alignment - ( xWantedSize & mask ) );
 		}
 	#endif
 
@@ -123,7 +124,7 @@ static unsigned char *pucAlignedHeap = NULL;
 		if( pucAlignedHeap == NULL )
 		{
 			/* Ensure the heap starts on a correctly aligned boundary. */
-			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ alignment ] ) & ( ( portPOINTER_SIZE_TYPE ) ~ mask ) );
 		}
 
 		/* Check there is enough room left for the allocation. */
@@ -150,6 +151,11 @@ static unsigned char *pucAlignedHeap = NULL;
 
 	return pvReturn;
 }
+
+void *pvPortMalloc( size_t xWantedSize){
+    return pvPortMallocGeneric(xWantedSize, portBYTE_HEAP_ALIGNMENT);
+}
+
 /*-----------------------------------------------------------*/
 
 void vPortFree( void *pv )
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
index 7d2b7e9f9..aff9f208b 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -111,7 +111,8 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
-#define portBYTE_ALIGNMENT			4
+#define portBYTE_ALIGNMENT			8 // APCS 8 bytes aligned stack for external calls
+#define portBYTE_HEAP_ALIGNMENT     4 // this value is used to allocate heap
 /*-----------------------------------------------------------*/
 
 
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index 223b372df..e99354d6f 100644
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -111,7 +111,7 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portBYTE_ALIGNMENT			4
+#define portBYTE_ALIGNMENT			8
 /*-----------------------------------------------------------*/	
 
 
diff --git a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
index 01e4f5b1b..7dcb54fe8 100644
--- a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
@@ -91,6 +91,8 @@ do {\
 #define configCHECK_FOR_STACK_OVERFLOW	1
 #endif
 
+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
+#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
 
 /**
   * @}
diff --git a/flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h b/flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h
index d83deb7bb..c1e5d957c 100755
--- a/flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h
@@ -91,6 +91,8 @@ do {\
 #define configCHECK_FOR_STACK_OVERFLOW	1
 #endif
 
+void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
+#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
 
 /**
   * @}

From f68a038af049337ada20b5021abed11e6ac6a402 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 8 Apr 2013 23:31:08 +0200
Subject: [PATCH 033/125] OP-900 Updated howto_upgrade.txt doc

+review OPReview-435
---
 .../Libraries/FreeRTOS/howto_upgrade.txt      | 70 +++++++++++++++++--
 1 file changed, 65 insertions(+), 5 deletions(-)

diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
index 1fb8ce087..c4ba4caae 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
@@ -2,6 +2,16 @@ General guidelines for updating FreeRTOS
 
 This file will list the necessary modifications to FreeRTOS package to be used inside PiOS
 
+Brief list of modifications: 
+*Add function to get task run time;
+*Modified heap_1.c to allow for different alignment for stack and generic malloc;
+*Allow heap_1.c for modification of max heap size at runtime;
+*use section ".heap" for heap.
+
+
+
+
+
 - include/task.h
 add the following declaration: 
 
@@ -41,16 +51,24 @@ add the following function:
 
 it usually is added after the declaration of vTaskGetRunTimeStats.
 
+- STM32F1XX/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+add the following define for 
+
+#define portBYTE_HEAP_ALIGNMENT     4 // this value is used to allocate heap
+
+
+
+
 - portable/MemMang/heap_1.c
 following there is the modification done in this revision against the base heap_1.c
 The modifications add a currentTOTAL_HEAP_SIZE variable that hold the current heap size,
 used instead of the configTOTAL_HEAP_SIZE macro that can be changed by the added
 xPortIncreaseHeapSize function.
-
+Also it allows for configurable aligments for Heap and Stack allocations.
 
 --- ../op_evo/FreeRTOSV7.4.0/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-06 15:04:22.760048534 +0200
-+++ ./flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-06 14:53:31.828030608 +0200
-@@ -92,13 +92,16 @@
++++ ./flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-08 02:23:01.649194752 +0200
+@@ -92,26 +92,30 @@
  
  #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
  
@@ -63,14 +81,54 @@ xPortIncreaseHeapSize function.
  static size_t xNextFreeByte = ( size_t ) 0;
  
 +static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
++void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
 +
 +/* A few bytes might be lost to byte aligning the heap start address. */
 +#define configADJUSTED_HEAP_SIZE    (currentTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT)
 +
  /*-----------------------------------------------------------*/
  
- void *pvPortMalloc( size_t xWantedSize )
-@@ -172,6 +175,12 @@
+-void *pvPortMalloc( size_t xWantedSize )
++void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment)
+ {
+ void *pvReturn = NULL;
+ static unsigned char *pucAlignedHeap = NULL;
+-
++size_t mask = alignment-1;
+ 	/* Ensure that blocks are always aligned to the required number of bytes. */
+ 	#if portBYTE_ALIGNMENT != 1
+-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
++		if( xWantedSize & mask )
+ 		{
+-			/* Byte alignment required. */
+-			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
++		    			/* Byte alignment required. */
++			xWantedSize += ( alignment - ( xWantedSize & mask ) );
+ 		}
+ 	#endif
+ 
+@@ -120,7 +124,7 @@
+ 		if( pucAlignedHeap == NULL )
+ 		{
+ 			/* Ensure the heap starts on a correctly aligned boundary. */
+-			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
++			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ alignment ] ) & ( ( portPOINTER_SIZE_TYPE ) ~ mask ) );
+ 		}
+ 
+ 		/* Check there is enough room left for the allocation. */
+@@ -147,6 +151,11 @@
+ 
+ 	return pvReturn;
+ }
++
++void *pvPortMalloc( size_t xWantedSize){
++    return pvPortMallocGeneric(xWantedSize, portBYTE_HEAP_ALIGNMENT);
++}
++
+ /*-----------------------------------------------------------*/
+ 
+ void vPortFree( void *pv )
+@@ -172,6 +181,12 @@
  {
  	return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
  }
@@ -89,4 +147,6 @@ xPortIncreaseHeapSize function.
 
 
 
+
+
 	
\ No newline at end of file

From 3f88a64cf3f526f27b3a9ffe219f457495e40986 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 8 Apr 2013 23:55:11 +0200
Subject: [PATCH 034/125] OP-874 UI does not relies on enabled state but set
 button state at widget initialization, fixes for styles

+review OPReview-421
---
 ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp    | 10 +++-------
 ground/openpilotgcs/src/plugins/uploader/uploader.ui   |  6 +++---
 .../src/plugins/uploader/uploadergadgetwidget.cpp      |  2 ++
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index a2cc5a50c..921473b7e 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -524,19 +524,15 @@ int DFUObject::JumpToApp(bool safeboot, bool erase)
     buf[5] = 0;
     buf[6] = 0;
     buf[7] = 0;
-    if (safeboot)
-    {
+    if (safeboot) {
         /* force system to safe boot mode (hwsettings == defaults) */
         buf[8] = 0x5A;
         buf[9] = 0xFE;
-    }
-    else
-    {
+    } else {
         buf[8] = 0;
         buf[9] = 0;
     }
-    if(erase)
-	{
+    if (erase) {
 	// force data flash clear
 		buf[10] = 0x00;
 		buf[11] = 0x00;
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
index c07798b98..6f25c8191 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
@@ -35,7 +35,7 @@ through serial or USB)</string>
      <item>
       <widget class="QPushButton" name="bootButton">
        <property name="enabled">
-        <bool>false</bool>
+        <bool>true</bool>
        </property>
        <property name="toolTip">
         <string>Boots the system.
@@ -53,7 +53,7 @@ menu on the right.</string>
      <item>
       <widget class="QPushButton" name="safeBootButton">
        <property name="enabled">
-        <bool>false</bool>
+        <bool>true</bool>
        </property>
        <property name="toolTip">
         <string>Boots the system into safe mode (ie. default HwSettings).
@@ -71,7 +71,7 @@ menu on the right.</string>
      <item>
       <widget class="QPushButton" name="eraseBootButton">
        <property name="enabled">
-        <bool>false</bool>
+        <bool>true</bool>
        </property>
        <property name="toolTip">
         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 2db6d0b34..41216fb9a 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -64,6 +64,8 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     rbi.addFile(QString(":uploader/images/view-refresh.svg"));
     m_config->refreshPorts->setIcon(rbi);
 
+    bootButtonsSetEnable(false);
+
     connect(m_config->refreshPorts, SIGNAL(clicked()), this, SLOT(getSerialPorts()));
 
     connect(m_config->pbHelp,SIGNAL(clicked()),this,SLOT(openHelp()));

From 2d9a2ef712637db38a694d994a21dbc8f0065d18 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 9 Apr 2013 01:11:02 +0300
Subject: [PATCH 035/125] OP-897: fix formatting +review OPReview-438

---
 .../manualcontrolsettings.xml                 | 59 ++++++++++---------
 1 file changed, 30 insertions(+), 29 deletions(-)

diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 17b85cf5f..a15b9039f 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -39,35 +39,36 @@
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
         <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
-        <field name="FlightModePosition" units="" type="enum" elements="6"
-		options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
-		defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
-		limits=" \
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
-			\
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
-			\
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
-			\
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
-			\
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
-			\
-			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
-			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner \
-		">
-        </field>
+        <field name="FlightModePosition"
+               units=""
+               type="enum"
+               elements="6"
+               options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
+               defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
+               limits="\
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>

From cc6d19e40a517b1ef1844fdb4e26fe284fff2291 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 9 Apr 2013 01:07:59 +0200
Subject: [PATCH 036/125] OP-908 added pios_math.h and pios_helper.h to
 contains all the various math and general macros/constants. Fixed remaining
 constants still defined as double.

+review OPReview-436
---
 flight/Libraries/CoordinateConversions.c      | 47 +++++++-------
 flight/Libraries/inc/WMMInternal.h            |  4 +-
 flight/Libraries/math/sin_lookup.c            |  8 +--
 flight/Libraries/paths.c                      |  6 +-
 .../Airspeed/revolution/gps_airspeed.c        |  7 +--
 flight/Modules/Attitude/revolution/attitude.c | 61 +++++++++----------
 .../fixedwingpathfollower.c                   | 17 +++---
 flight/Modules/PathPlanner/pathplanner.c      |  2 +-
 flight/PiOS/Common/pios_mpxv.c                |  2 +-
 flight/PiOS/Common/pios_rfm22b.c              |  4 +-
 flight/PiOS/inc/pios_helpers.h                | 40 ++++++++++++
 flight/PiOS/inc/pios_math.h                   | 35 +++++++++++
 flight/PiOS/pios.h                            |  3 +-
 13 files changed, 150 insertions(+), 86 deletions(-)
 create mode 100644 flight/PiOS/inc/pios_helpers.h
 create mode 100644 flight/PiOS/inc/pios_math.h

diff --git a/flight/Libraries/CoordinateConversions.c b/flight/Libraries/CoordinateConversions.c
index 98b2aef80..7fc0ed5c2 100644
--- a/flight/Libraries/CoordinateConversions.c
+++ b/flight/Libraries/CoordinateConversions.c
@@ -29,11 +29,10 @@
 
 #include <math.h>
 #include <stdint.h>
+#include <pios_math.h>
 #include "CoordinateConversions.h"
 
-#define F_PI ((float)M_PI)
-#define RAD2DEG (180.0f/ F_PI)
-#define DEG2RAD (F_PI /180.0f)
+#define MIN_ALLOWABLE_MAGNITUDE 1e-30f
 
 // ****** convert Lat,Lon,Alt to ECEF  ************
 void LLA2ECEF(float LLA[3], float ECEF[3])
@@ -43,10 +42,10 @@ void LLA2ECEF(float LLA[3], float ECEF[3])
 	float sinLat, sinLon, cosLat, cosLon;
 	float N;
 
-	sinLat = sinf(DEG2RAD * LLA[0]);
-	sinLon = sinf(DEG2RAD * LLA[1]);
-	cosLat = cosf(DEG2RAD * LLA[0]);
-	cosLon = cosf(DEG2RAD * LLA[1]);
+	sinLat = sinf(DEG2RAD(LLA[0]));
+	sinLon = sinf(DEG2RAD(LLA[1]));
+	cosLat = cosf(DEG2RAD(LLA[0]));
+	cosLon = cosf(DEG2RAD(LLA[1]));
 
 	N = a / sqrtf(1.0f - e * e * sinLat * sinLat);	//prime vertical radius of curvature
 
@@ -75,8 +74,8 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
 #define MAX_ITER 10		// should not take more than 5 for valid coordinates
 #define ACCURACY 1.0e-11f	// used to be e-14, but we don't need sub micrometer exact calculations
 
-	LLA[1] = RAD2DEG * atan2f(y, x);
-	Lat = DEG2RAD * LLA[0];
+	LLA[1] = RAD2DEG(atan2f(y, x));
+	Lat = DEG2RAD(LLA[0]);
 	esLat = e * sinf(Lat);
 	N = a / sqrtf(1 - esLat * esLat);
 	NplusH = N + LLA[2];
@@ -93,7 +92,7 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
 		iter += 1;
 	}
 
-	LLA[0] = RAD2DEG * Lat;
+	LLA[0] = RAD2DEG(Lat);
 	LLA[2] = NplusH - N;
 
 	return (iter < MAX_ITER);
@@ -104,10 +103,10 @@ void RneFromLLA(float LLA[3], float Rne[3][3])
 {
 	float sinLat, sinLon, cosLat, cosLon;
 
-	sinLat = (float)sinf(DEG2RAD * LLA[0]);
-	sinLon = (float)sinf(DEG2RAD * LLA[1]);
-	cosLat = (float)cosf(DEG2RAD * LLA[0]);
-	cosLon = (float)cosf(DEG2RAD * LLA[1]);
+	sinLat = (float)sinf(DEG2RAD(LLA[0]));
+	sinLon = (float)sinf(DEG2RAD(LLA[1]));
+	cosLat = (float)cosf(DEG2RAD(LLA[0]));
+	cosLon = (float)cosf(DEG2RAD(LLA[1]));
 
 	Rne[0][0] = -sinLat * cosLon;
 	Rne[0][1] = -sinLat * sinLon;
@@ -135,9 +134,9 @@ void Quaternion2RPY(const float q[4], float rpy[3])
 	R23 = 2.0f * (q[2] * q[3] + q[0] * q[1]);
 	R33 = q0s - q1s - q2s + q3s;
 
-	rpy[1] = RAD2DEG * asinf(-R13);	// pitch always between -pi/2 to pi/2
-	rpy[2] = RAD2DEG * atan2f(R12, R11);
-	rpy[0] = RAD2DEG * atan2f(R23, R33);
+	rpy[1] = RAD2DEG(asinf(-R13));	// pitch always between -pi/2 to pi/2
+	rpy[2] = RAD2DEG(atan2f(R12, R11));
+	rpy[0] = RAD2DEG(atan2f(R23, R33));
 
 	//TODO: consider the cases where |R13| ~= 1, |pitch| ~= pi/2
 }
@@ -148,9 +147,9 @@ void RPY2Quaternion(const float rpy[3], float q[4])
 	float phi, theta, psi;
 	float cphi, sphi, ctheta, stheta, cpsi, spsi;
 
-	phi = DEG2RAD * rpy[0] / 2;
-	theta = DEG2RAD * rpy[1] / 2;
-	psi = DEG2RAD * rpy[2] / 2;
+	phi = DEG2RAD(rpy[0] / 2);
+	theta = DEG2RAD(rpy[1] / 2);
+	psi = DEG2RAD(rpy[2] / 2);
 	cphi = cosf(phi);
 	sphi = sinf(phi);
 	ctheta = cosf(theta);
@@ -294,13 +293,13 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 
 	// The first rows of rot matrices chosen in direction of v1
 	mag = VectorMagnitude(v1b);
-	if (fabsf(mag) < 1e-30f)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[0][i]=v1b[i]/mag;
 
 	mag = VectorMagnitude(v1e);
-	if (fabsf(mag) < 1e-30f)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[0][i]=v1e[i]/mag;
@@ -308,14 +307,14 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 	// The second rows of rot matrices chosen in direction of v1xv2
 	CrossProduct(v1b,v2b,&Rib[1][0]);
 	mag = VectorMagnitude(&Rib[1][0]);
-	if (fabsf(mag) < 1e-30f)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[1][i]=Rib[1][i]/mag;
 
 	CrossProduct(v1e,v2e,&Rie[1][0]);
 	mag = VectorMagnitude(&Rie[1][0]);
-	if (fabsf(mag) < 1e-30f)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[1][i]=Rie[1][i]/mag;
diff --git a/flight/Libraries/inc/WMMInternal.h b/flight/Libraries/inc/WMMInternal.h
index d09913fc9..5604a0773 100644
--- a/flight/Libraries/inc/WMMInternal.h
+++ b/flight/Libraries/inc/WMMInternal.h
@@ -26,6 +26,7 @@
 
 #ifndef WMMINTERNAL_H_
 #define WMMINTERNAL_H_
+#include <pios_math.h>
 
 	// internal constants
 #define TRUE            ((uint16_t)1)
@@ -35,9 +36,6 @@
 #define	NUMTERMS 91		// ((WMM_MAX_MODEL_DEGREES+1)*(WMM_MAX_MODEL_DEGREES+2)/2);
 #define NUMPCUP 92		// NUMTERMS +1
 #define NUMPCUPS 13		// WMM_MAX_MODEL_DEGREES +1
-#define M_PI_F ((float)M_PI)
-#define RAD2DEG(rad)    ((rad)*(180.0f/M_PI_F))
-#define DEG2RAD(deg)    ((deg)*(M_PI_F/180.0f))
 
 	// internal structure definitions
 typedef struct {
diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 2d67ca162..b49d500ea 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -32,8 +32,8 @@
 #include "math.h"
 #include "stdbool.h"
 #include "stdint.h"
+#include <pios_math.h>
 
-#define F_PI ((float)M_PI)
 #define FLASH_TABLE
 #ifdef FLASH_TABLE
  /** Version of the code which precomputes the lookup table in flash **/
@@ -82,7 +82,7 @@ int sin_lookup_initalize()
 		return -1;
 
 	for(uint32_t i = 0; i < 180; i++)
-		sin_table[i] = sinf((float)i * 2 * F_PI / 360.0f);
+		sin_table[i] = sinf((float)i * 2 * M_PI_F / 360.0f);
 
 	return 0;
 }
@@ -127,7 +127,7 @@ float cos_lookup_deg(float angle)
  */
 float sin_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / F_PI;
+	int degrees = angle * 180.0f / M_PI_F;
 	return sin_lookup_deg(degrees);
 }
 
@@ -138,6 +138,6 @@ float sin_lookup_rad(float angle)
  */
 float cos_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / F_PI;
+	int degrees = angle * 180.0f / M_PI_F;
 	return cos_lookup_deg(degrees);
 }
diff --git a/flight/Libraries/paths.c b/flight/Libraries/paths.c
index 353ae9b10..b8e9f804c 100644
--- a/flight/Libraries/paths.c
+++ b/flight/Libraries/paths.c
@@ -94,7 +94,7 @@ static void path_endpoint( float * start_point, float * end_point, float * cur_p
 	dist_diff = sqrtf( diff_north * diff_north + diff_east * diff_east );
 	dist_path = sqrtf( path_north * path_north + path_east * path_east );
 
-	if(dist_diff < 1e-6 ) {
+	if(dist_diff < 1e-6f ) {
 		status->fractional_progress = 1;
 		status->error = 0;
 		status->path_direction[0] = status->path_direction[1] = 0;
@@ -135,7 +135,7 @@ static void path_vector( float * start_point, float * end_point, float * cur_poi
 	dot = path_north * diff_north + path_east * diff_east;
 	dist_path = sqrtf( path_north * path_north + path_east * path_east );
 
-	if(dist_path < 1e-6) {
+	if(dist_path < 1e-6f) {
 		// if the path is too short, we cannot determine vector direction.
 		// Fly towards the endpoint to prevent flying away,
 		// but assume progress=1 either way.
@@ -188,7 +188,7 @@ static void path_circle(float * start_point, float * end_point, float * cur_poin
 	radius = sqrtf( radius_north * radius_north + radius_east * radius_east );
 	cradius = sqrtf(  diff_north * diff_north   +   diff_east * diff_east );
 
-	if (cradius < 1e-6) {
+	if (cradius < 1e-6f) {
 		// cradius is zero, just fly somewhere and make sure correction is still a normal
 		status->fractional_progress = 1;
 		status->error = radius;
diff --git a/flight/Modules/Airspeed/revolution/gps_airspeed.c b/flight/Modules/Airspeed/revolution/gps_airspeed.c
index c91a6f8a6..ec85d10d5 100644
--- a/flight/Modules/Airspeed/revolution/gps_airspeed.c
+++ b/flight/Modules/Airspeed/revolution/gps_airspeed.c
@@ -35,7 +35,7 @@
 #include "gpsvelocity.h"
 #include "attitudeactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
 
 
 // Private constants
@@ -44,9 +44,6 @@
 #define SAMPLING_DELAY_MS_GPS          100    //Needs to be settable in a UAVO
 #define GPS_AIRSPEED_TIME_CONSTANT_MS  500.0f //Needs to be settable in a UAVO
 
-#define F_PI 3.141526535897932f
-#define DEG2RAD (F_PI/180.0f)
-
 // Private types
 struct GPSGlobals {
 	float RbeCol1_old[3];
@@ -117,7 +114,7 @@ void gps_airspeedGet(float *v_air_GPS)
 	float cosDiff=(Rbe[0][0]*gps->RbeCol1_old[0]) + (Rbe[0][1]*gps->RbeCol1_old[1]) + (Rbe[0][2]*gps->RbeCol1_old[2]);
 	
 	//If there's more than a 5 degree difference between two fuselage measurements, then we have sufficient delta to continue.
-	if (fabs(cosDiff) < cos(5.0f*DEG2RAD)) {
+	if (fabsf(cosDiff) < cosf(DEG2RAD(5.0f))) {
 		GPSVelocityData gpsVelData;
 		GPSVelocityGet(&gpsVelData);
 		
diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 91ccc688c..2a0b636f3 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -70,14 +70,13 @@
 #include "revosettings.h"
 #include "velocityactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
 // Private constants
 #define STACK_SIZE_BYTES 2048
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define FAILSAFE_TIMEOUT_MS 10
 
-#define F_PI 3.14159265358979323846f
-#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
+#define PI_MOD(x) (fmodf(x + M_PI_F, M_PI_F * 2) - M_PI_F)
 
 // low pass filter configuration to calculate offset
 // of barometric altitude sensor
@@ -303,9 +302,9 @@ static int32_t updateAttitudeComplementary(bool first_run)
 		AttitudeActualData attitudeActual;
 		AttitudeActualGet(&attitudeActual);
 		init = 0;
-		attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-		attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-		attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+		attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+		attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+		attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 
 		RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 		AttitudeActualSet(&attitudeActual);
@@ -415,10 +414,10 @@ static int32_t updateAttitudeComplementary(bool first_run)
 	// Work out time derivative from INSAlgo writeup
 	// Also accounts for the fact that gyros are in deg/s
 	float qdot[4];
-	qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * F_PI / 180 / 2;
+	qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * M_PI_F / 180 / 2;
 
 	// Take a time step
 	q[0] = q[0] + qdot[0];
@@ -641,7 +640,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			INSSetBaroVar(revoCalibration.baro_var);
 
 			// Initialize the gyro bias from the settings
-			float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+			float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 			INSSetGyroBias(gyro_bias);
 
 			xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
@@ -649,9 +648,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 			// Set initial attitude
 			AttitudeActualData attitudeActual;
-			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 			RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 			AttitudeActualSet(&attitudeActual);
 
@@ -676,7 +675,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			INSSetMagNorth(homeLocation.Be);
 
 			// Initialize the gyro bias from the settings
-			float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+			float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 			INSSetGyroBias(gyro_bias);
 
 			GPSPositionData gpsPosition;
@@ -693,9 +692,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 			// Set initial attitude
 			AttitudeActualData attitudeActual;
-			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 			RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 			AttitudeActualSet(&attitudeActual);
 
@@ -711,9 +710,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
 
 			GyrosBiasGet(&gyrosBias);
-			float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f, 
-				(gyrosData.y + gyrosBias.y) * F_PI / 180.0f, 
-				(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
+			float gyros[3] = {(gyrosData.x + gyrosBias.x) * M_PI_F / 180.0f,
+				(gyrosData.y + gyrosBias.y) * M_PI_F / 180.0f,
+				(gyrosData.z + gyrosBias.z) * M_PI_F / 180.0f};
 			INSStatePrediction(gyros, &accelsData.x, dT);
 			
 			AttitudeActualData attitude;
@@ -750,18 +749,18 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	// If the gyro bias setting was updated we should reset
 	// the state estimate of the EKF
 	if(gyroBiasSettingsUpdated) {
-		float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+		float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 		INSSetGyroBias(gyro_bias);
 		gyroBiasSettingsUpdated = false;
 	}
 
 	// Because the sensor module remove the bias we need to add it
 	// back in here so that the INS algorithm can track it correctly
-	float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
+	float gyros[3] = {gyrosData.x * M_PI_F / 180.0f, gyrosData.y * M_PI_F / 180.0f, gyrosData.z * M_PI_F / 180.0f};
 	if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE) {
-		gyros[0] += gyrosBias.x * F_PI / 180.0f;
-		gyros[1] += gyrosBias.y * F_PI / 180.0f;
-		gyros[2] += gyrosBias.z * F_PI / 180.0f;
+		gyros[0] += gyrosBias.x * M_PI_F / 180.0f;
+		gyros[1] += gyrosBias.y * M_PI_F / 180.0f;
+		gyros[2] += gyrosBias.z * M_PI_F / 180.0f;
 	}
 
 	// Advance the state estimate
@@ -795,8 +794,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 		if (0) { // Old code to take horizontal velocity from GPS Position update
 			sensors |= HORIZ_SENSORS;
-			vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * F_PI / 180.0f);
-			vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * F_PI / 180.0f);
+			vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * M_PI_F / 180.0f);
+			vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * M_PI_F / 180.0f);
 			vel[2] = 0;
 		}
 		// Transform the GPS position into NED coordinates
@@ -870,9 +869,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		// Copy the gyro bias into the UAVO except when it was updated
 		// from the settings during the calculation, then consume it
 		// next cycle
-		gyrosBias.x = Nav.gyro_bias[0] * 180.0f / F_PI;
-		gyrosBias.y = Nav.gyro_bias[1] * 180.0f / F_PI;
-		gyrosBias.z = Nav.gyro_bias[2] * 180.0f / F_PI;
+		gyrosBias.x = Nav.gyro_bias[0] * 180.0f / M_PI_F;
+		gyrosBias.y = Nav.gyro_bias[1] * 180.0f / M_PI_F;
+		gyrosBias.z = Nav.gyro_bias[2] * 180.0f / M_PI_F;
 		GyrosBiasSet(&gyrosBias);
 	}
 
diff --git a/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
index d3071d676..ebf9e4cc6 100644
--- a/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -66,14 +66,11 @@
 #include "velocitydesired.h"
 #include "velocityactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
 // Private constants
 #define MAX_QUEUE_SIZE 4
 #define STACK_SIZE_BYTES 1548
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
-#define F_PI 3.14159265358979323846f
-#define RAD2DEG (180.0f/F_PI)
-#define DEG2RAD (F_PI/180.0f)
 #define GEE 9.81f
 // Private types
 
@@ -293,7 +290,7 @@ static void updatePathVelocity()
 			break;
 	}
 	// make sure groundspeed is not zero
-	if (groundspeed<1e-2) groundspeed=1e-2;
+	if (groundspeed<1e-2f) groundspeed=1e-2f;
 	
 	// calculate velocity - can be zero if waypoints are too close
 	VelocityDesiredData velocityDesired;
@@ -313,8 +310,8 @@ static void updatePathVelocity()
 	// difference between correction_direction and velocityactual >90 degrees and
 	// difference between path_direction and velocityactual >90 degrees  ( 4th sector, facing away from eerything )
 	// fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore)
-	float angle1=RAD2DEG * ( atan2f(progress.path_direction[1],progress.path_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
-	float angle2=RAD2DEG * ( atan2f(progress.correction_direction[1],progress.correction_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
+	float angle1=RAD2DEG( atan2f(progress.path_direction[1],progress.path_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
+	float angle2=RAD2DEG( atan2f(progress.correction_direction[1],progress.correction_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
 	if (angle1<-180.0f) angle1+=360.0f;
 	if (angle1>180.0f) angle1-=360.0f;
 	if (angle2<-180.0f) angle2+=360.0f;
@@ -470,7 +467,7 @@ static uint8_t updateFixedDesiredAttitude()
 		result = 0;
 	}
 	
-	if (indicatedAirspeedActual<1e-6) {
+	if (indicatedAirspeedActual<1e-6f) {
 		// prevent division by zero, abort without controlling anything. This guidance mode is not suited for takeoff or touchdown, or handling stationary planes
 		// also we cannot handle planes flying backwards, lets just wait until the nose drops
 		fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 1;
@@ -583,8 +580,8 @@ static uint8_t updateFixedDesiredAttitude()
 	/**
 	 * Compute desired roll command
 	 */
-	if (groundspeedDesired> 1e-6) {
-		bearingError = RAD2DEG * (atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
+	if (groundspeedDesired> 1e-6f) {
+		bearingError = RAD2DEG(atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
 	} else {
 		// if we are not supposed to move, run in a circle
 		bearingError = -90.0f;
diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/Modules/PathPlanner/pathplanner.c
index de2fe9184..65f540bee 100644
--- a/flight/Modules/PathPlanner/pathplanner.c
+++ b/flight/Modules/PathPlanner/pathplanner.c
@@ -329,7 +329,7 @@ static uint8_t conditionTimeOut() {
 		toWaypoint = waypointActive.Index;
 		toStarttime = PIOS_DELAY_GetRaw();
 	}
-	if (PIOS_DELAY_DiffuS(toStarttime) >= 1e6 * pathAction.ConditionParameters[0]) {
+	if (PIOS_DELAY_DiffuS(toStarttime) >= 1e6f * pathAction.ConditionParameters[0]) {
 		// make sure we reinitialize even if the same waypoint comes twice
 		toWaypoint = 0xFFFF;
 		return true;
diff --git a/flight/PiOS/Common/pios_mpxv.c b/flight/PiOS/Common/pios_mpxv.c
index 80e0b648d..b430286f3 100644
--- a/flight/PiOS/Common/pios_mpxv.c
+++ b/flight/PiOS/Common/pios_mpxv.c
@@ -77,7 +77,7 @@ float PIOS_MPXV_CalcAirspeed(PIOS_MPXV_descriptor *desc,uint16_t measurement)
 	}
 	
 	//Compute calibrated airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
-	float calibratedAirspeed = A0*sqrt(5.0f*(pow(Qc/P0+1.0f,POWER)-1.0f));
+	float calibratedAirspeed = A0*sqrtf(5.0f*(powf(Qc/P0+1.0f,POWER)-1.0f));
 	
 	//Upper bound airspeed. No need to lower bound it, that comes from Qc
 	if (calibratedAirspeed > desc->maxSpeed) { //in [m/s]
diff --git a/flight/PiOS/Common/pios_rfm22b.c b/flight/PiOS/Common/pios_rfm22b.c
index 20eecc112..9c09f3cd9 100644
--- a/flight/PiOS/Common/pios_rfm22b.c
+++ b/flight/PiOS/Common/pios_rfm22b.c
@@ -964,12 +964,12 @@ static void PIOS_RFM22B_Task(void *parameters)
 static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
 {
 	uint32_t datarate_bps = data_rate[datarate];
-	rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
+	rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
 	if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
 	{
 		// Generate a pseudo-random number from 0-8 to add to the delay
 		uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
-		rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4 + random;
+		rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5f) * 4 + random;
 	}
 	else
 		rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
diff --git a/flight/PiOS/inc/pios_helpers.h b/flight/PiOS/inc/pios_helpers.h
new file mode 100644
index 000000000..1377411a7
--- /dev/null
+++ b/flight/PiOS/inc/pios_helpers.h
@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_helpers.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Header for helper functions/macro definitions
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_HELPERS_H_
+#define PIOS_HELPERS_H_
+
+
+/**
+ * @brief return the number of elements contained in the array x.
+ * @param[in] x the array
+ * @return  number of elements in x.
+ *
+ */
+#define NELEMENTS(x) (sizeof(x) / sizeof((x)[0]))
+
+
+#endif // PIOS_HELPERS_H_
diff --git a/flight/PiOS/inc/pios_math.h b/flight/PiOS/inc/pios_math.h
new file mode 100644
index 000000000..38702f363
--- /dev/null
+++ b/flight/PiOS/inc/pios_math.h
@@ -0,0 +1,35 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_math.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Header for math functions/macro definitions
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_MATH_H_
+#define PIOS_MATH_H_
+
+#define M_PI_F ((float)M_PI)
+#define RAD2DEG(rad)    ((rad)*(180.0f/M_PI_F))
+#define DEG2RAD(deg)    ((deg)*(M_PI_F/180.0f))
+
+
+#endif // PIOS_MATH_H_
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index 96ca8304b..5e581b345 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -34,8 +34,7 @@
 #ifndef PIOS_H
 #define PIOS_H
 
-/* Used in pios_*.* files macro */
-#define NELEMENTS(x) (sizeof(x) / sizeof((x)[0]))
+#include <pios_helpers.h>
 
 #ifdef USE_SIM_POSIX
 /* SimPosix version of this file. This will probably be removed later */

From 42022df009f940d97da8b2337e983494fece090d Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Thu, 11 Apr 2013 19:47:05 +0200
Subject: [PATCH 037/125] OP-69 allow to set language (translation) in use for
 first launch through factory defaults OP-723 do not hard code locale to en_US
 in order to allow locale specific display and entry of numbers and dates +
 revisited the GCS startup sequence

---
 ground/openpilotgcs/src/app/main.cpp | 399 ++++++++++++++++-----------
 1 file changed, 245 insertions(+), 154 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index 1c3e64d59..d051f06ca 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -26,6 +26,32 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+/*
+ The GCS locale is set to the system locale by default unless the "hidden" setting General/Locale has a value.
+ The user can not change General/Locale from the Options dialog.
+
+ The GCS language will default to the GCS locale unless the General/OverrideLanguage has a value.
+ The user can change General/OverrideLanguage to any available language from the Options dialog.
+
+ Both General/Locale and General/OverrideLanguage can be set from the command line or through the the factory defaults file.
+
+
+
+
+ The -reset switch will clear all the user settings and will trigger a reload of the factory defaults.
+
+ You can combine it with the -configfile=<file> command line argument to quickly switch between multiple settings files.
+
+ [code]
+ openpilotgcs -reset -configfile=./MyOpenPilotGCS.xml
+ [/code]
+
+ The specified file will be used to load the factory defaults from but only when the user settings are empty.
+ If the user settings are not empty the file will not be used.
+ This switch is useful on the 1st run when the user settings are empty or in combination with -reset.
+
+ */
+
 #include "qtsingleapplication.h"
 #include "utils/xmlconfig.h"
 #include "gcssplashscreen.h"
@@ -35,6 +61,7 @@
 #include <extensionsystem/iplugin.h>
 
 #include <QtCore/QDir>
+#include <QtCore/QElapsedTimer>
 #include <QtCore/QTextStream>
 #include <QtCore/QFileInfo>
 #include <QtCore/QDebug>
@@ -50,12 +77,28 @@
 #include <QtGui/QSplashScreen>
 #include <QtGui/QPainter>
 
-#include <QElapsedTimer>
+namespace {
 
-enum { OptionIndent = 4, DescriptionIndent = 24 };
+typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
+typedef QMap<QString, bool> AppOptions;
+typedef QMap<QString, QString> FoundAppOptions;
+
+enum {
+    OptionIndent = 4, DescriptionIndent = 24
+};
 
 static const char *appNameC = "OpenPilot GCS";
+
 static const char *corePluginNameC = "Core";
+
+#ifdef Q_OS_MAC
+static const char *SHARE_PATH = "/../Resources";
+#else
+static const char *SHARE_PATH = "/../share/openpilotgcs";
+#endif
+
+static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
+
 static const char *fixedOptionsC =
 " [OPTION]... [FILE]...\n"
 "Options:\n"
@@ -65,25 +108,24 @@ static const char *fixedOptionsC =
 "    -clean-config       Delete all existing configuration settings\n"
 "    -exit-after-config  Exit GCS after manipulating configuration settings\n"
 "    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
-"    -configfile=value       Default configuration file to load if settings file is empty\n";
-static const char *HELP_OPTION1 = "-h";
-static const char *HELP_OPTION2 = "-help";
-static const char *HELP_OPTION3 = "/h";
-static const char *HELP_OPTION4 = "--help";
-static const char *VERSION_OPTION = "-version";
-static const char *CLIENT_OPTION = "-client";
-static const char *CONFIG_OPTION = "-D";
-static const char *CLEAN_CONFIG_OPTION = "-clean-config";
-static const char *EXIT_AFTER_CONFIG_OPTION = "-exit-after-config";
+"    -reset              Reset user settings to factory defaults.\n";
 
-typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
-
-static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
+static QLatin1String HELP_OPTION1("-h");
+static QLatin1String HELP_OPTION2("-help");
+static QLatin1String HELP_OPTION3("/h");
+static QLatin1String HELP_OPTION4("--help");
+static QLatin1String VERSION_OPTION("-version");
+static QLatin1String CLIENT_OPTION("-client");
+static QLatin1String CONFIG_OPTION("-D");
+static QLatin1String CLEAN_CONFIG_OPTION("-clean-config");
+static QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
+static QLatin1String RESET("-reset");
+static QLatin1String NO_SPLASH("-no-splash");
 
 // Helpers for displaying messages. Note that there is no console on Windows.
 #ifdef Q_OS_WIN
 // Format as <pre> HTML
-static inline void toHtml(QString &t)
+inline void toHtml(QString &t)
 {
     t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
     t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
@@ -92,58 +134,57 @@ static inline void toHtml(QString &t)
     t.append(QLatin1String("</pre></html>"));
 }
 
-static void displayHelpText(QString t) // No console on Windows.
+void displayHelpText(QString t) // No console on Windows.
 {
     toHtml(t);
     QMessageBox::information(0, QLatin1String(appNameC), t);
 }
 
-static void displayError(const QString &t) // No console on Windows.
+void displayError(const QString &t) // No console on Windows.
 {
     QMessageBox::critical(0, QLatin1String(appNameC), t);
 }
 
 #else
 
-static void displayHelpText(const QString &t)
+void displayHelpText(const QString &t)
 {
     qWarning("%s", qPrintable(t));
 }
 
-static void displayError(const QString &t)
+void displayError(const QString &t)
 {
     qCritical("%s", qPrintable(t));
 }
 
 #endif
 
-static void printVersion(const ExtensionSystem::PluginSpec *coreplugin,
-                         const ExtensionSystem::PluginManager &pm)
+void printVersion(const ExtensionSystem::PluginSpec *coreplugin, const ExtensionSystem::PluginManager &pm)
 {
     QString version;
     QTextStream str(&version);
-    str << '\n' << appNameC << ' ' << coreplugin->version()<< " based on Qt " << qVersion() << "\n\n";
+    str << '\n' << appNameC << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
     pm.formatPluginVersions(str);
     str << '\n' << coreplugin->copyright() << '\n';
     displayHelpText(version);
 }
 
-static void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
+void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
 {
     QString help;
     QTextStream str(&help);
-    str << "Usage: " << a0  << fixedOptionsC;
+    str << "Usage: " << a0 << fixedOptionsC;
     ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
-    pm.formatPluginOptions(str,  OptionIndent, DescriptionIndent);
+    pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
     displayHelpText(help);
 }
 
-static inline QString msgCoreLoadFailure(const QString &why)
+inline QString msgCoreLoadFailure(const QString &why)
 {
     return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
 }
 
-static inline QString msgSendArgumentFailed()
+inline QString msgSendArgumentFailed()
 {
     return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
 }
@@ -151,18 +192,20 @@ static inline QString msgSendArgumentFailed()
 // Prepare a remote argument: If it is a relative file, add the current directory
 // since the the central instance might be running in a different directory.
 
-static inline QString prepareRemoteArgument(const QString &a)
+inline QString prepareRemoteArgument(const QString &a)
 {
     QFileInfo fi(a);
-    if (!fi.exists())
+    if (!fi.exists()) {
         return a;
-    if (fi.isRelative())
+    }
+    if (fi.isRelative()) {
         return fi.absoluteFilePath();
+    }
     return a;
 }
 
 // Send the arguments to an already running instance of OpenPilot GCS
-static bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
+bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
 {
     if (!arguments.empty()) {
         // Send off arguments
@@ -182,7 +225,21 @@ static bool sendArguments(SharedTools::QtSingleApplication &app, const QStringLi
     return true;
 }
 
-static inline QStringList getPluginPaths()
+void systemInit()
+{
+#ifdef Q_OS_MAC
+    // increase the number of file that can be opened in OpenPilot GCS
+    struct rlimit rl;
+    getrlimit(RLIMIT_NOFILE, &rl);
+    rl.rlim_cur = rl.rlim_max;
+    setrlimit(RLIMIT_NOFILE, &rl);
+#endif
+#ifdef Q_OS_LINUX
+    QApplication::setAttribute(Qt::AA_X11InitThreads, true);
+#endif
+}
+
+inline QStringList getPluginPaths()
 {
     QStringList rc;
     // Figure out root:  Up one from 'bin'
@@ -206,22 +263,43 @@ static inline QStringList getPluginPaths()
     return rc;
 }
 
-static void loadFactorySettings(QSettings &settings)
+AppOptions options()
 {
-    QDir directory(QCoreApplication::applicationDirPath());
-#ifdef Q_OS_MAC
-    directory.cdUp();
-    directory.cd("Resources");
-#else
-    directory.cdUp();
-    directory.cd("share");
-    directory.cd("openpilotgcs");
-#endif
-    directory.cd("default_configurations");
+    AppOptions appOptions;
+    appOptions.insert(HELP_OPTION1, false);
+    appOptions.insert(HELP_OPTION2, false);
+    appOptions.insert(HELP_OPTION3, false);
+    appOptions.insert(HELP_OPTION4, false);
+    appOptions.insert(VERSION_OPTION, false);
+    appOptions.insert(CLIENT_OPTION, false);
+    appOptions.insert(CONFIG_OPTION, true);
+    appOptions.insert(CLEAN_CONFIG_OPTION, false);
+    appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
+    appOptions.insert(RESET, false);
+    appOptions.insert(NO_SPLASH, false);
+    return appOptions;
+}
+
+FoundAppOptions parseCommandLine(SharedTools::QtSingleApplication &app, ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
+{
+    FoundAppOptions foundAppOptions;
+    const QStringList arguments = app.arguments();
+    if (arguments.size() > 1) {
+        AppOptions appOptions = options();
+        if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
+//            displayError(errorMessage);
+//            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
+        }
+    }
+    return foundAppOptions;
+}
+
+void loadFactoryDefaults(QSettings &settings)
+{
+    QDir directory(QCoreApplication::applicationDirPath() + QString(SHARE_PATH) + QString("/default_configurations"));
 
     qDebug() << "Looking for configuration files in:" << directory.absolutePath();
 
-    QString filename;
     // check if command line contains a config file name
     QString commandLine;
     foreach(QString str, qApp->arguments()) {
@@ -229,6 +307,7 @@ static void loadFactorySettings(QSettings &settings)
             commandLine = str.split("=").at(1);
         }
     }
+    QString filename;
     if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
         // use file name specified on command line
         filename = directory.absolutePath() + QDir::separator() + commandLine;
@@ -244,21 +323,18 @@ static void loadFactorySettings(QSettings &settings)
     }
 
     // create settings from file
-    QSettings *qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
+    QSettings qs(filename, XmlConfig::XmlSettingsFormat);
 
     // transfer loaded settings to application settings
-    QStringList keys = qs->allKeys();
+    QStringList keys = qs.allKeys();
     foreach(QString key, keys) {
-        settings.setValue(key, qs->value(key));
+        settings.setValue(key, qs.value(key));
     }
 
-    // and delete loaded settings
-    delete qs;
-
     qDebug() << "Configuration file" << filename << "was loaded.";
 }
 
-static void overrideSettings(QSettings &settings, int argc, char **argv)
+void overrideSettings(QSettings &settings, int argc, char **argv)
 {
     // Options like -DMy/setting=test
     QRegExp rx("([^=]+)=(.*)");
@@ -277,73 +353,24 @@ static void overrideSettings(QSettings &settings, int argc, char **argv)
 
     QList<QString> keys = settingOptions.keys();
     foreach (QString key, keys) {
+        qDebug() << "Overriding user setting:" << key << "with value" << settingOptions.value(key);
         settings.setValue(key, settingOptions.value(key));
     }
+
     settings.sync();
 }
 
-#ifdef Q_OS_MAC
-#  define SHARE_PATH "/../Resources"
-#else
-#  define SHARE_PATH "/../share/openpilotgcs"
-#endif
-
-int main(int argc, char **argv)
+void loadTranslators(QString language)
 {
-    QElapsedTimer timer;
-    timer.start();
+    // TODO static!?!
+    static QTranslator translator;
+    static QTranslator qtTranslator;
 
-#ifdef Q_OS_MAC
-    // increase the number of file that can be opened in OpenPilot GCS
-    struct rlimit rl;
-    getrlimit(RLIMIT_NOFILE, &rl);
-    rl.rlim_cur = rl.rlim_max;
-    setrlimit(RLIMIT_NOFILE, &rl);
-#endif
-#ifdef Q_OS_LINUX
-    QApplication::setAttribute(Qt::AA_X11InitThreads, true);
-#endif
-
-    // Set the default locale to EN, if this is not set the system locale will be used
-    // and as of now we dont want that behaviour.
-    QLocale::setDefault(QLocale::English);
-
-    SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
-
-    // Open splash screen
-    GCSSplashScreen splash;
-    splash.show();
-
-    // Must be done before any QSettings class is created
-    QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
-            QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH));
-    // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
-    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, QLatin1String("OpenPilot"),
-            QLatin1String("OpenPilotGCS_config"));
-
-    if (!settings.allKeys().count()) {
-        qDebug() << "No user setting, loading factory defaults.";
-        // no user settings, so try to load some default ones
-        loadFactorySettings(settings);
-    }
-
-    // override setting with command line provided settings
-    overrideSettings(settings, argc, argv);
-
-    QString locale = QLocale::system().name();
-    qDebug() << "main - system locale:" << locale;
-
-    QString language = QLocale::system().name();
-    language = settings.value("General/OverrideLanguage", language).toString();
-    qDebug() << "main - language:" << language;
-
-    QTranslator translator;
-    const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH "/translations");
+    const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH) + QLatin1String("/translations");
     if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
         const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
         const QString &qtTrFile = QLatin1String("qt_") + language;
         // Binary installer puts Qt tr files into creatorTrPath
-        QTranslator qtTranslator;
         if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
             QCoreApplication::installTranslator(&translator);
             QCoreApplication::installTranslator(&qtTranslator);
@@ -352,38 +379,98 @@ int main(int argc, char **argv)
             translator.load(QString());
         }
     }
-    app.setProperty("qtc_locale", locale); // Do we need this?
+}
 
-    splash.showProgressMessage(QObject::tr("Application starting..."));
+} //  namespace anonymous
 
-    // Load
+int main(int argc, char **argv)
+{
+    QElapsedTimer timer;
+    timer.start();
+
+    // low level init
+    systemInit();
+
+    // create application
+    SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
+
+    // initialize the plugin manager
     ExtensionSystem::PluginManager pluginManager;
     pluginManager.setFileExtension(QLatin1String("pluginspec"));
+    pluginManager.setPluginPaths(getPluginPaths());
 
-    const QStringList pluginPaths = getPluginPaths();
-    pluginManager.setPluginPaths(pluginPaths);
-
-    const QStringList arguments = app.arguments();
-    QMap<QString, QString> foundAppOptions;
-    if (arguments.size() > 1) {
-        QMap<QString, bool> appOptions;
-        appOptions.insert(QLatin1String(HELP_OPTION1), false);
-        appOptions.insert(QLatin1String(HELP_OPTION2), false);
-        appOptions.insert(QLatin1String(HELP_OPTION3), false);
-        appOptions.insert(QLatin1String(HELP_OPTION4), false);
-        appOptions.insert(QLatin1String(VERSION_OPTION), false);
-        appOptions.insert(QLatin1String(CLIENT_OPTION), false);
-        appOptions.insert(QLatin1String(CONFIG_OPTION), true);
-        appOptions.insert(QLatin1String(CLEAN_CONFIG_OPTION), false);
-        appOptions.insert(QLatin1String(EXIT_AFTER_CONFIG_OPTION), false);
-        QString errorMessage;
-        if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
-            displayError(errorMessage);
-            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
-            return -1;
-        }
+    // parse command line
+    qDebug() << "Command line" << app.arguments();;
+    QString errorMessage;
+    FoundAppOptions foundAppOptions = parseCommandLine(app, pluginManager, errorMessage);
+    if (!errorMessage.isEmpty()) {
+        displayError(errorMessage);
+        printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
+        return -1;
     }
 
+    // load user settings
+    // Must be done before any QSettings class is created
+    // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
+    QString settingsPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH);
+    qDebug() << "Loading user settings from" << settingsPath;
+    QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope, settingsPath);
+    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, QLatin1String("OpenPilot"),
+            QLatin1String("OpenPilotGCS_config"));
+
+    // need to reset all user settings?
+    if (foundAppOptions.contains(RESET)) {
+        qDebug() << "Resetting user settings!";
+        settings.clear();
+    }
+
+    // check if we have user settings
+    if (!settings.allKeys().count()) {
+        // no user settings, load the factory defaults
+        qDebug() << "No user settings found, loading factory defaults...";
+        loadFactoryDefaults(settings);
+    }
+
+    // override settings with command line provided values
+    // take notice that the overridden values will be saved in the user settings and will continue to be effective
+    // in subsequent GCS runs
+    overrideSettings(settings, argc, argv);
+
+    // initialize GCS locale
+    // use the value defined by the General/Locale setting or default to system locale.
+    // the General/Locale setting is not available in the Options dialog, it is a hidden setting but can still be changed:
+    // - through the command line
+    // - editing the factory defaults XML file before 1st launch
+    // - editing the user XML file
+    QString localeName = settings.value("General/Locale", QLocale::system().name()).toString();
+    QLocale::setDefault(localeName);
+
+    // some debuging
+    qDebug() << "main - system locale:" << QLocale::system().name();
+    qDebug() << "main - GCS locale:" << QLocale().name();
+
+    // load translation file
+    // the language used is defined by the General/OverrideLanguage setting (defaults to GCS locale)
+    // if the translation file for the given language is not found, GCS will default to built in English.
+    QString language = settings.value("General/OverrideLanguage", localeName).toString();
+    qDebug() << "main - translation language:" << language;
+    loadTranslators(language);
+
+    app.setProperty("qtc_locale", localeName); // Do we need this?
+
+    // open the splash screen
+    GCSSplashScreen *splash = 0;
+    if (!foundAppOptions.contains(NO_SPLASH)) {
+        splash = new GCSSplashScreen();
+        // show splash
+        splash->showProgressMessage(QObject::tr("Application starting..."));
+        splash->show();
+        // connect to track progress of plugin manager
+        QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
+                    splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
+    }
+
+    // find and load core plugin
     const PluginSpecSet plugins = pluginManager.plugins();
     ExtensionSystem::PluginSpec *coreplugin = 0;
     foreach (ExtensionSystem::PluginSpec *spec, plugins) {
@@ -393,7 +480,7 @@ int main(int argc, char **argv)
         }
     }
     if (!coreplugin) {
-        QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
+        QString nativePaths = QDir::toNativeSeparators(getPluginPaths().join(QLatin1String(",")));
         const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(
                 nativePaths);
         displayError(msgCoreLoadFailure(reason));
@@ -403,28 +490,27 @@ int main(int argc, char **argv)
         displayError(msgCoreLoadFailure(coreplugin->errorString()));
         return 1;
     }
-    if (foundAppOptions.contains(QLatin1String(VERSION_OPTION))) {
+
+    if (foundAppOptions.contains(VERSION_OPTION)) {
         printVersion(coreplugin, pluginManager);
         return 0;
     }
-    if (foundAppOptions.contains(QLatin1String(EXIT_AFTER_CONFIG_OPTION))) {
+    if (foundAppOptions.contains(EXIT_AFTER_CONFIG_OPTION)) {
         return 0;
     }
-    if (foundAppOptions.contains(QLatin1String(HELP_OPTION1))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION2))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION3))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION4))) {
+    if (foundAppOptions.contains(HELP_OPTION1)
+            || foundAppOptions.contains(HELP_OPTION2)
+            || foundAppOptions.contains(HELP_OPTION3)
+            || foundAppOptions.contains(HELP_OPTION4)) {
         printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
         return 0;
     }
+
     const bool isFirstInstance = !app.isRunning();
-    if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION))) {
+    if (!isFirstInstance && foundAppOptions.contains(CLIENT_OPTION)) {
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
     }
 
-    QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
-                     &splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
-
     pluginManager.loadPlugins();
 
     if (coreplugin->hasError()) {
@@ -434,19 +520,21 @@ int main(int argc, char **argv)
 
     {
         QStringList errors;
-        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
-            if (p->hasError())
+        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins()) {
+            if (p->hasError()) {
                 errors.append(p->errorString());
-        if (!errors.isEmpty())
+            }
+        }
+        if (!errors.isEmpty()) {
             QMessageBox::warning(0,
-                QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
-                errors.join(QString::fromLatin1("\n\n")));
+                    QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
+                    errors.join(QString::fromLatin1("\n\n")));
+        }
     }
 
     if (isFirstInstance) {
         // Set up lock and remote arguments for the first instance only.
-        // Silently fallback to unconnected instances for any subsequent
-        // instances.
+        // Silently fallback to unconnected instances for any subsequent instances.
         app.initialize();
         QObject::connect(&app, SIGNAL(messageReceived(QString)), coreplugin->plugin(), SLOT(remoteArgument(QString)));
     }
@@ -455,9 +543,12 @@ int main(int argc, char **argv)
     // Do this after the event loop has started
     QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
 
-    //Update message and postpone closing of splashscreen 3 seconds
-    splash.showProgressMessage(QObject::tr("Application started."));
-    QTimer::singleShot(1500, &splash, SLOT(close()));
+    if (splash) {
+        // Update message and postpone closing of splashscreen 3 seconds
+        splash->showProgressMessage(QObject::tr("Application started."));
+        QTimer::singleShot(1500, splash, SLOT(close()));
+        // TODO delete splash
+    }
 
     qDebug() << "main - main took" << timer.elapsed() << "ms";
 

From 860077c428f5955ca1b95e79fb2d7f32125c76dd Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Thu, 11 Apr 2013 21:25:38 +0200
Subject: [PATCH 038/125] OP-816 Added Revolution specific configuration code
 to Setup Wizard.

---
 .../plugins/setupwizard/pages/inputpage.cpp   | 50 ++++++++++++++-----
 .../src/plugins/setupwizard/setupwizard.cpp   |  2 +-
 .../vehicleconfigurationhelper.cpp            |  6 +++
 3 files changed, 44 insertions(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
index 607df838a..bfa83ba7e 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
@@ -74,18 +74,42 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
     Q_ASSERT(uavoManager);
     HwSettings* hwSettings = HwSettings::GetInstance(uavoManager);
     HwSettings::DataFields data = hwSettings->getData();
-    switch(selectedType)
-    {
-        case VehicleConfigurationSource::INPUT_PWM:
-            return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
-        case VehicleConfigurationSource::INPUT_PPM:
-            return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
-        case VehicleConfigurationSource::INPUT_SBUS:
-            return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
-        case VehicleConfigurationSource::INPUT_DSM2:
-            // TODO: Handle all of the DSM types ?? Which is most common?
-            return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM2;
-        default:
-            return true;
+    switch(getWizard()->getControllerType()) {
+        case SetupWizard::CONTROLLER_CC:
+        case SetupWizard::CONTROLLER_CC3D:
+        {
+            switch(selectedType)
+            {
+                case VehicleConfigurationSource::INPUT_PWM:
+                    return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
+                case VehicleConfigurationSource::INPUT_PPM:
+                    return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
+                case VehicleConfigurationSource::INPUT_SBUS:
+                    return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
+                case VehicleConfigurationSource::INPUT_DSM2:
+                    // TODO: Handle all of the DSM types ?? Which is most common?
+                    return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM2;
+                default: return true;
+            }
+            break;
+        }
+        case SetupWizard::CONTROLLER_REVO:
+        {
+            switch(selectedType)
+            {
+                case VehicleConfigurationSource::INPUT_PWM:
+                    return data.RM_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
+                case VehicleConfigurationSource::INPUT_PPM:
+                    return data.RM_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
+                case VehicleConfigurationSource::INPUT_SBUS:
+                    return data.RM_MainPort != HwSettings::CC_MAINPORT_SBUS;
+                case VehicleConfigurationSource::INPUT_DSM2:
+                    // TODO: Handle all of the DSM types ?? Which is most common?
+                    return data.RM_MainPort != HwSettings::CC_MAINPORT_DSM2;
+                default: return true;
+            }
+            break;
+        }
+        default: return true;
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index d6b6bb86b..e3061f8ad 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -81,8 +81,8 @@ int SetupWizard::nextId() const
             {
                 case CONTROLLER_CC:
                 case CONTROLLER_CC3D:
-                    return PAGE_INPUT;
                 case CONTROLLER_REVO:
+                    return PAGE_INPUT;
                 case CONTROLLER_OPLINK:
                 default:
                     return PAGE_NOTYETIMPLEMENTED;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index a4d51294a..82b09200f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -260,11 +260,17 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
             switch(m_configSource->getVehicleSubType()) {
                 case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
                     data.ChannelUpdateFreq[0] = updateFrequence;
+                    if(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
+                        data.ChannelUpdateFreq[1] = updateFrequence;
+                    }
                     break;
                 case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
                 case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
                     data.ChannelUpdateFreq[0] = updateFrequence;
                     data.ChannelUpdateFreq[1] = updateFrequence;
+                    if(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
+                        data.ChannelUpdateFreq[2] = updateFrequence;
+                    }
                     break;
                 case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
                 case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:

From ea0633757341b8ed9caf7aeb1139db177507484f Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 10 Apr 2013 01:12:57 +0300
Subject: [PATCH 039/125] OP-719: make/scripts/win_sdk_install.sh

---
 make/scripts/win_sdk_install.sh | 96 +++++++++++++++++++++++++++++++++
 1 file changed, 96 insertions(+)
 create mode 100644 make/scripts/win_sdk_install.sh

diff --git a/make/scripts/win_sdk_install.sh b/make/scripts/win_sdk_install.sh
new file mode 100644
index 000000000..94297fa62
--- /dev/null
+++ b/make/scripts/win_sdk_install.sh
@@ -0,0 +1,96 @@
+#!/bin/bash
+#
+# win_sdk_install.sh - Windows toolchain install script.
+# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+# This script should be launched from git bash prompt. It assumes MSYS
+# environment and expects path names in the form of /C/some/path, where
+# C is a drive letter, and paths are in MSYS format. It probably won't
+# work under cygwin.
+SCRIPT_PATH="`echo "$BASH_SOURCE" | sed 's|\\\\|/|g; s|^\(.\):|/\1|'`"
+SCRIPT_NAME="`basename \"$SCRIPT_PATH\"`"
+SCRIPT_DIR="`dirname \"$SCRIPT_PATH\"`"
+ROOT_DIR="`pushd \"$SCRIPT_DIR/../..\" >/dev/null && pwd && popd >/dev/null`"
+TOOLS_DIR="$ROOT_DIR/tools"
+
+# Tools URLs to fetch
+WGET_URL="http://wiki.openpilot.org/download/attachments/18612236/wget.exe"
+MAKE_URL="http://wiki.openpilot.org/download/attachments/18612236/make.exe"
+
+# Expected tools paths
+WGET="$TOOLS_DIR/bin/`basename \"$WGET_URL\"`"
+MAKE="$TOOLS_DIR/bin/`basename \"$MAKE_URL\"`"
+
+# wget is necessary to fetch other files
+WGET_NAME="`basename \"$WGET\"`"
+if [ ! -x "$WGET" ]; then
+    echo "$SCRIPT_NAME: $WGET_NAME not found, fetching from $WGET_URL"
+    mkdir -p "`dirname \"$WGET\"`"
+
+    VBSCRIPT="$TOOLS_DIR/fetch.$$.vbs"
+    cat >"$VBSCRIPT" <<-EOF
+	url  = WScript.Arguments.Item(0)
+	file = WScript.Arguments.Item(1)
+
+	Dim xHttp: Set xHttp = CreateObject("MSXML2.ServerXMLHTTP")
+	xHttp.Open "GET", url, False
+	xHttp.setOption 2, SXH_SERVER_CERT_IGNORE_ALL_SERVER_ERRORS
+	xHttp.Send
+
+	If xHttp.Status = 200 Then
+	    Dim bStrm: Set bStrm = CreateObject("AdoDb.Stream")
+	    With bStrm
+	        .Type = 1 '// binary
+	        .Open
+	        .Write xHttp.ResponseBody
+	        .SaveToFile file, 2 '// overwrite
+	        .Close
+	    End With
+	    WScript.Quit(0)
+	Else
+	    WScript.Quit(1)
+	End IF
+EOF
+
+    cscript "$VBSCRIPT" "$WGET_URL" "$WGET"
+    rc=$?
+    rm "$VBSCRIPT"
+
+    if [ $rc -ne 0 ]; then
+        echo "$SCRIPT_NAME: $WGET_NAME fetch error, hope it's in the path..."
+        WGET="$WGET_NAME"
+    fi
+fi
+
+# make is necessary to fetch all SDKs
+MAKE_NAME="`basename \"$MAKE\"`"
+if [ ! -x "$MAKE" ]; then
+    echo "$SCRIPT_NAME: $MAKE_NAME not found, fetching from $MAKE_URL"
+    MAKE_DIR="`dirname \"$MAKE\"`"
+    mkdir -p "$MAKE_DIR"
+    $WGET -N --content-disposition -P "$MAKE_DIR" "$MAKE_URL"
+    if [ $? -ne 0 ]; then
+        echo "$SCRIPT_NAME: $MAKE_NAME fetch error, hope it's in the path..."
+        MAKE="$MAKE_NAME"
+    fi
+fi
+
+# Finally we can fetch all SDKs using top level Makefile
+cd "$ROOT_DIR"
+echo "Run 'tools/bin/make all_sdk_install' to install the other tools"
+echo " or 'tools/bin/make help' for more info on make targets"

From e4d91218b6beb641f806d6aaf0a82832e665e2e3 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 10 Apr 2013 01:04:03 +0300
Subject: [PATCH 040/125] OP-719: make qt_sdk_install mingw_install (Windows)

---
 Makefile      |  36 ++-------
 make/tools.mk | 210 +++++++++++++++++++++++++++++++++++++++-----------
 2 files changed, 171 insertions(+), 75 deletions(-)

diff --git a/Makefile b/Makefile
index 957f7b748..150a0a790 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,7 @@
 #
 # Top level Makefile for the OpenPilot project build system.
 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
+# Use 'make help' for instructions.
 #
 # This program is free software; you can redistribute it and/or modify
 # it under the terms of the GNU General Public License as published by
@@ -93,39 +94,11 @@ endif
 # the tools.mk to ensure that we download/install the right tools.
 UNAME := $(shell uname)
 ARCH  := $(shell uname -m)
-# Here and everywhere if not Linux or OSX then assume Windows
+# Here and everywhere if not Linux or Mac then assume Windows
 ifeq ($(filter Linux Darwin, $(UNAME)), )
     UNAME := Windows
 endif
 
-# Set up misc host tools
-export ECHO	:= echo
-export MKDIR	:= mkdir
-export CP	:= cp
-export RM	:= rm
-export LN	:= ln
-export CAT	:= cat
-export SED	:= sed
-export TAR	:= tar
-export ANT	:= ant
-export JAVAC	:= javac
-export JAR	:= jar
-export GIT	:= git
-export CURL	:= curl
-export PYTHON	:= python
-export INSTALL	:= install
-
-# Command to extract version info data from the repository and source tree
-export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
-
-# Test if quotes are needed for the echo-command
-ifeq (${shell $(ECHO) "test"}, test)
-    export QUOTE := '
-# This line is just to clear out the single quote above '
-else
-    export QUOTE :=
-endif
-
 # Include tools installers
 include $(ROOT_DIR)/make/tools.mk
 
@@ -136,7 +109,7 @@ ifeq ($(UNAME), Linux)
 else ifeq ($(UNAME), Darwin)
     QT_SPEC = macx-g++
     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/uavobjgenerator"
-else
+else ifeq ($(UNAME), Windows)
     QT_SPEC = win32-g++
     UAVOBJGENERATOR = "$(BUILD_DIR)/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
 endif
@@ -846,8 +819,9 @@ help:
 	@$(ECHO) "   Here is a summary of the available targets:"
 	@$(ECHO)
 	@$(ECHO) "   [Tool Installers]"
-	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 	@$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
+	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
+	@$(ECHO) "     mingw_install        - Install the MinGW toolchain (Windows only)"
 	@$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 	@$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 	@$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
diff --git a/make/tools.mk b/make/tools.mk
index a8f8e0b9e..1c07c9e44 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -8,11 +8,12 @@
 #
 # Ready to use:
 #    arm_sdk_install
+#    qt_sdk_install
+#    mingw_install
 #
 # TODO:
 #    wget_win_install
 #    make_win_install
-#    qt_sdk_install
 #    openocd_install
 #    ftd2xx_install
 #    libusb_win_install
@@ -53,13 +54,19 @@ endif
 
 ifeq ($(UNAME), Linux)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
+    QT_SDK_URL  := TODO/qt-4.8.4-linux.tar.bz2
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
+    QT_SDK_URL  := TODO/qt-4.8.4-mac.tar.bz2
 else ifeq ($(UNAME), Windows)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
+    QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
+    MINGW_URL   := http://wiki.openpilot.org/download/attachments/18612236/mingw-4.4.0.tar.bz2
 endif
 
-ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
+ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
+QT_SDK_DIR      := $(TOOLS_DIR)/qt-4.8.4
+MINGW_DIR       := $(TOOLS_DIR)/mingw-4.4.0
 
 ##############################
 #
@@ -67,7 +74,10 @@ ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
 #
 ##############################
 
-ALL_SDK_TARGETS := arm_sdk
+ALL_SDK_TARGETS := arm_sdk qt_sdk
+ifeq ($(UNAME), Windows)
+    ALL_SDK_TARGETS += mingw
+endif
 
 .PHONY: all_sdk_install all_sdk_clean all_sdk_distclean all_sdk_version
 all_sdk_install:   $(addsuffix _install,$(ALL_SDK_TARGETS))
@@ -85,6 +95,7 @@ all_sdk_version:   $(addsuffix _version,$(ALL_SDK_TARGETS))
 MSG_DOWNLOADING      = $(QUOTE) DOWNLOAD   $(QUOTE)
 MSG_EXTRACTING       = $(QUOTE) EXTRACT    $(QUOTE)
 MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
+MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
 MSG_CLEANING         = $(QUOTE) CLEAN      $(QUOTE)
 MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
 
@@ -107,11 +118,51 @@ endif
 # run in parallel
 ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKECMDGOALS))),)
 .NOTPARALLEL:
-    $(info $(EMPTY) NOTE        Parallel make disabled by some of sdk install targets)
+    $(info $(EMPTY) NOTE        Parallel make disabled by some of tool/sdk install targets)
     $(info $(EMPTY) NOTE        If some of install/extract targets failed, try 'make *_distclean' first)
     $(info $(EMPTY) NOTE        Use all_sdk_version to check toolchain versions)
 endif
 
+##############################
+#
+# Misc host tools
+#
+##############################
+
+export MKDIR	:= mkdir
+export CP	:= cp
+export RM	:= rm
+export LN	:= ln
+export CAT	:= cat
+export SED	:= sed
+export TAR	:= tar
+export ANT	:= ant
+export JAVAC	:= javac
+export JAR	:= jar
+export GIT	:= git
+export CURL	:= curl
+export PYTHON	:= python
+export INSTALL	:= install
+
+# Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
+# It does not work if make started under msysGit installed into a path with spaces.
+ifneq ($(UNAME), Windows)
+    export ECHO	:= echo
+else
+    export ECHO	:= $(PYTHON) -c "import sys; print(' '.join(sys.argv[1:]))"
+endif
+
+# Test if quotes are needed for the echo command
+ifeq ($(shell $(ECHO) "test"), test)
+    export QUOTE := '
+# This line is just to clear out the single quote above '
+else
+    export QUOTE :=
+endif
+
+# Command to extract version info data from the repository and source tree
+export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
+
 ##############################
 #
 # ARM SDK
@@ -127,13 +178,14 @@ arm_sdk_install: arm_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
 		$(if $(shell [ -f "$(DL_DIR)/$(ARM_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(ARM_SDK_FILE)",) \
 		-o "$(DL_DIR)/$(ARM_SDK_FILE)" \
 		"$(ARM_SDK_URL)"
+
 	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(ARM_SDK_DIR))
 	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(ARM_SDK_FILE))
 
 .PHONY: arm_sdk_clean
 arm_sdk_clean:
 	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(ARM_SDK_DIR))
-	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r "$(ARM_SDK_DIR)"
+	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -rf "$(ARM_SDK_DIR)"
 
 .PHONY: arm_sdk_distclean
 arm_sdk_distclean:
@@ -154,47 +206,125 @@ endif
 
 ##############################
 #
-# TODO: code below is not revised yet
+# MinGW (Windows only)
 #
 ##############################
 
-# Set up QT toolchain
-QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2.1
+ifeq ($(UNAME), Windows)
+
+MINGW_FILE := $(notdir $(MINGW_URL))
+
+.PHONY: mingw_install
+mingw_install: mingw_clean | $(DL_DIR) $(TOOLS_DIR)
+	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(MINGW_FILE))
+	$(V1) $(CURL) $(CURL_OPTIONS) \
+		$(if $(shell [ -f "$(DL_DIR)/$(MINGW_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(MINGW_FILE)",) \
+		-o "$(DL_DIR)/$(MINGW_FILE)" \
+		"$(MINGW_URL)"
+
+	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(MINGW_DIR))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(MINGW_FILE))
+
+.PHONY: mingw_clean
+mingw_clean:
+	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(MINGW_DIR))
+	$(V1) [ ! -d "$(MINGW_DIR)" ] || $(RM) -rf "$(MINGW_DIR)"
+
+.PHONY: mingw_distclean
+mingw_distclean:
+	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
+	$(V1) [ ! -f "$(DL_DIR)/$(MINGW_FILE)" ] || $(RM) "$(DL_DIR)/$(MINGW_FILE)"
+
+.PHONY: mingw_version
+mingw_version:
+	$(V1) gcc --version | head -n1
+
+.PHONY: gcc_version
+gcc_version: mingw_version
+
+ifeq ($(shell [ -d "$(MINGW_DIR)" ] && $(ECHO) "exists"), exists)
+    # set MinGW binary and library paths (QTMINGW is used by qmake, do not rename)
+    export QTMINGW := $(MINGW_DIR)/bin
+    export PATH    := $(QTMINGW):$(PATH)
+else
+    # not installed, use host gcc compiler
+    # $(info $(EMPTY) WARNING     $(call toprel, $(MINGW_DIR)) not found (make mingw_install), using system PATH)
+endif
+
+else # Linux or Mac
+
+all_sdk_version: gcc_version
+
+.PHONY: gcc_version
+gcc_version:
+	$(V1) gcc --version | head -n1
+
+endif
+
+##############################
+#
+# Qt SDK
+#
+##############################
+
+QT_SDK_FILE := $(notdir $(QT_SDK_URL))
 
 .PHONY: qt_sdk_install
-# Choose the appropriate installer based on host architecture
-ifneq (,$(filter $(ARCH), x86_64 amd64))
-# 64-bit
-QT_SDK_QMAKE_PATH := $(QT_SDK_DIR)/Desktop/Qt/4.8.1/gcc/bin/qmake
-qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86_64-v1.2.1.run
-qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/14b2039c-0e1f-4774-a4f2-9aa60b6d5313/Qt_SDK_Lin64_offline
-else
-# 32-bit
-QT_SDK_QMAKE_PATH := $(QT_SDK_DIR)/Desktop/Qt/4.8.1/gcc/bin/qmake
-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
-qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86-v1.2.1.run
-endif
-# order-only prereq on directory existance:
-qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR)
-qt_sdk_install: qt_sdk_clean
-        # download the source only if it's newer than what we already have
-	$(V1) $(WGET) -N --content-disposition -P "$(DL_DIR)" "$(QT_SDK_URL)"
-        # tell the user exactly which path they should select in the GUI
-	$(V1) echo "*** NOTE NOTE NOTE ***"
-	$(V1) echo "*"
-	$(V1) echo "*  In the GUI, please use exactly this path as the installation path:"
-	$(V1) echo "*        $(QT_SDK_DIR)"
-	$(V1) echo "*"
-	$(V1) echo "*** NOTE NOTE NOTE ***"
+qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
+	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+	$(V1) $(CURL) $(CURL_OPTIONS) \
+		$(if $(shell [ -f "$(DL_DIR)/$(QT_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(QT_SDK_FILE)",) \
+		-o "$(DL_DIR)/$(QT_SDK_FILE)" \
+		"$(QT_SDK_URL)"
 
-        #installer is an executable, make it executable and run it
-	$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
-	$(V1) "$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks
+	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(QT_SDK_DIR))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+
+	@$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(QT_SDK_DIR))
+	@$(ECHO) $(QUOTE)[Paths]$(QUOTE)		> $(QT_SDK_DIR)/bin/qt.conf
+	@$(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE)	>> $(QT_SDK_DIR)/bin/qt.conf
 
 .PHONY: qt_sdk_clean
 qt_sdk_clean:
-	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
+	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(QT_SDK_DIR))
+	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf "$(QT_SDK_DIR)"
 
+.PHONY: qt_sdk_distclean
+qt_sdk_distclean:
+	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
+	$(V1) [ ! -f "$(DL_DIR)/$(QT_SDK_FILE)" ] || $(RM) "$(DL_DIR)/$(QT_SDK_FILE)"
+
+.PHONY: qt_sdk_version
+qt_sdk_version:
+	$(V1) $(QMAKE) --version | tail -1
+
+ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
+    export QMAKE := $(QT_SDK_DIR)/bin/qmake
+
+    # set Qt library search path
+    ifeq ($(UNAME), Windows)
+        export PATH := $(QT_SDK_DIR)/bin:$(PATH)
+    else
+        export LD_LIBRARY_PATH := $(QT_SDK_DIR)/lib:$(LD_LIBRARY_PATH)
+    endif
+else
+    # not installed, hope it's in the path...
+    # $(info $(EMPTY) WARNING     $(call toprel, $(QT_SDK_DIR)) not found (make qt_sdk_install), using system PATH)
+    QMAKE ?= qmake
+endif
+
+
+
+
+
+
+
+
+##############################
+#
+# TODO: code below is not revised yet
+#
+##############################
 
 # Set up openocd tools
 OPENOCD_DIR       := $(TOOLS_DIR)/openocd
@@ -480,14 +610,6 @@ gtest_clean:
 #
 ##############################
 
-# Set up paths to tools
-ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
-    QMAKE := $(QT_SDK_QMAKE_PATH)
-else
-    # not installed, hope it's in the path...
-    QMAKE ?= qmake
-endif
-
 ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && $(ECHO) "exists"), exists)
     export OPENOCD := $(OPENOCD_DIR)/bin/openocd
 else

From c0878f290d24c092bf7b88f6e05ba9919ad6605e Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 12 Apr 2013 02:50:14 +0300
Subject: [PATCH 041/125] OP-719: make qt_sdk_install (Linux)

---
 make/tools.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/make/tools.mk b/make/tools.mk
index 1c07c9e44..d6a8367fb 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -54,7 +54,7 @@ endif
 
 ifeq ($(UNAME), Linux)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
-    QT_SDK_URL  := TODO/qt-4.8.4-linux.tar.bz2
+    QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
     QT_SDK_URL  := TODO/qt-4.8.4-mac.tar.bz2

From 34b15fedafe27ae22ebb8907858eab9f159d5cbe Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 10 Apr 2013 17:23:01 +0200
Subject: [PATCH 042/125] OP-719: make python_install (Windows)

---
 Makefile                            |   1 +
 flight/targets/EntireFlash/Makefile |   1 +
 make/tools.mk                       | 143 +++++++++++++++++++---------
 3 files changed, 99 insertions(+), 46 deletions(-)

diff --git a/Makefile b/Makefile
index 150a0a790..87c6282fc 100644
--- a/Makefile
+++ b/Makefile
@@ -822,6 +822,7 @@ help:
 	@$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 	@$(ECHO) "     mingw_install        - Install the MinGW toolchain (Windows only)"
+	@$(ECHO) "     python_install       - Install the Python interpreter (Windows only)"
 	@$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 	@$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 	@$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
diff --git a/flight/targets/EntireFlash/Makefile b/flight/targets/EntireFlash/Makefile
index 6b2910f94..671514d1a 100644
--- a/flight/targets/EntireFlash/Makefile
+++ b/flight/targets/EntireFlash/Makefile
@@ -21,6 +21,7 @@ ifndef OPENPILOT_IS_COOL
 endif
 
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include $(ROOT_DIR)/make/firmware-defs.mk
 
 # Paths
 TOPDIR		= .
diff --git a/make/tools.mk b/make/tools.mk
index d6a8367fb..123b96f2e 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -9,11 +9,10 @@
 # Ready to use:
 #    arm_sdk_install
 #    qt_sdk_install
-#    mingw_install
+#    mingw_install (Windows only)
+#    python_install (Windows only)
 #
 # TODO:
-#    wget_win_install
-#    make_win_install
 #    openocd_install
 #    ftd2xx_install
 #    libusb_win_install
@@ -62,11 +61,13 @@ else ifeq ($(UNAME), Windows)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
     QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
     MINGW_URL   := http://wiki.openpilot.org/download/attachments/18612236/mingw-4.4.0.tar.bz2
+    PYTHON_URL  := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
 endif
 
 ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
 QT_SDK_DIR      := $(TOOLS_DIR)/qt-4.8.4
 MINGW_DIR       := $(TOOLS_DIR)/mingw-4.4.0
+PYTHON_DIR      := $(TOOLS_DIR)/python-2.7.4
 
 ##############################
 #
@@ -76,7 +77,7 @@ MINGW_DIR       := $(TOOLS_DIR)/mingw-4.4.0
 
 ALL_SDK_TARGETS := arm_sdk qt_sdk
 ifeq ($(UNAME), Windows)
-    ALL_SDK_TARGETS += mingw
+    ALL_SDK_TARGETS += mingw python
 endif
 
 .PHONY: all_sdk_install all_sdk_clean all_sdk_distclean all_sdk_version
@@ -141,7 +142,6 @@ export JAVAC	:= javac
 export JAR	:= jar
 export GIT	:= git
 export CURL	:= curl
-export PYTHON	:= python
 export INSTALL	:= install
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
@@ -149,7 +149,8 @@ export INSTALL	:= install
 ifneq ($(UNAME), Windows)
     export ECHO	:= echo
 else
-    export ECHO	:= $(PYTHON) -c "import sys; print(' '.join(sys.argv[1:]))"
+#   export ECHO := $(PYTHON) -c "import sys; print(' '.join(sys.argv[1:]))"
+    export ECHO	:= echo
 endif
 
 # Test if quotes are needed for the echo command
@@ -161,7 +162,7 @@ else
 endif
 
 # Command to extract version info data from the repository and source tree
-export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
+export VERSION_INFO = $(PYTHON) $(ROOT_DIR)/make/scripts/version-info.py --path=$(ROOT_DIR)
 
 ##############################
 #
@@ -204,6 +205,58 @@ else
     export ARM_SDK_PREFIX ?= arm-none-eabi-
 endif
 
+##############################
+#
+# Qt SDK
+#
+##############################
+
+QT_SDK_FILE := $(notdir $(QT_SDK_URL))
+
+.PHONY: qt_sdk_install
+qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
+	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+	$(V1) $(CURL) $(CURL_OPTIONS) \
+		$(if $(shell [ -f "$(DL_DIR)/$(QT_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(QT_SDK_FILE)",) \
+		-o "$(DL_DIR)/$(QT_SDK_FILE)" \
+		"$(QT_SDK_URL)"
+
+	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(QT_SDK_DIR))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+
+	@$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(QT_SDK_DIR))
+	@$(ECHO) $(QUOTE)[Paths]$(QUOTE)		> $(QT_SDK_DIR)/bin/qt.conf
+	@$(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE)	>> $(QT_SDK_DIR)/bin/qt.conf
+
+.PHONY: qt_sdk_clean
+qt_sdk_clean:
+	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(QT_SDK_DIR))
+	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf "$(QT_SDK_DIR)"
+
+.PHONY: qt_sdk_distclean
+qt_sdk_distclean:
+	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
+	$(V1) [ ! -f "$(DL_DIR)/$(QT_SDK_FILE)" ] || $(RM) "$(DL_DIR)/$(QT_SDK_FILE)"
+
+.PHONY: qt_sdk_version
+qt_sdk_version:
+	$(V1) $(QMAKE) --version | tail -1
+
+ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
+    export QMAKE := $(QT_SDK_DIR)/bin/qmake
+
+    # set Qt library search path
+    ifeq ($(UNAME), Windows)
+        export PATH := $(QT_SDK_DIR)/bin:$(PATH)
+    else
+        export LD_LIBRARY_PATH := $(QT_SDK_DIR)/lib:$(LD_LIBRARY_PATH)
+    endif
+else
+    # not installed, hope it's in the path...
+    # $(info $(EMPTY) WARNING     $(call toprel, $(QT_SDK_DIR)) not found (make qt_sdk_install), using system PATH)
+    QMAKE ?= qmake
+endif
+
 ##############################
 #
 # MinGW (Windows only)
@@ -263,59 +316,57 @@ endif
 
 ##############################
 #
-# Qt SDK
+# Python (Windows only)
 #
 ##############################
 
-QT_SDK_FILE := $(notdir $(QT_SDK_URL))
+ifeq ($(UNAME), Windows)
 
-.PHONY: qt_sdk_install
-qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+PYTHON_FILE := $(notdir $(PYTHON_URL))
+
+.PHONY: python_install
+python_install: python_clean | $(DL_DIR) $(TOOLS_DIR)
+	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(PYTHON_FILE))
 	$(V1) $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(QT_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(QT_SDK_FILE)",) \
-		-o "$(DL_DIR)/$(QT_SDK_FILE)" \
-		"$(QT_SDK_URL)"
+		$(if $(shell [ -f "$(DL_DIR)/$(PYTHON_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(PYTHON_FILE)",) \
+		-o "$(DL_DIR)/$(PYTHON_FILE)" \
+		"$(PYTHON_URL)"
 
-	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(QT_SDK_DIR))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
+	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(PYTHON_DIR))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(PYTHON_FILE))
 
-	@$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(QT_SDK_DIR))
-	@$(ECHO) $(QUOTE)[Paths]$(QUOTE)		> $(QT_SDK_DIR)/bin/qt.conf
-	@$(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE)	>> $(QT_SDK_DIR)/bin/qt.conf
+.PHONY: python_clean
+python_clean:
+	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(PYTHON_DIR))
+	$(V1) [ ! -d "$(PYTHON_DIR)" ] || $(RM) -rf "$(PYTHON_DIR)"
 
-.PHONY: qt_sdk_clean
-qt_sdk_clean:
-	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(QT_SDK_DIR))
-	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf "$(QT_SDK_DIR)"
-
-.PHONY: qt_sdk_distclean
-qt_sdk_distclean:
+.PHONY: python_distclean
+python_distclean:
 	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
-	$(V1) [ ! -f "$(DL_DIR)/$(QT_SDK_FILE)" ] || $(RM) "$(DL_DIR)/$(QT_SDK_FILE)"
+	$(V1) [ ! -f "$(DL_DIR)/$(PYTHON_FILE)" ] || $(RM) "$(DL_DIR)/$(PYTHON_FILE)"
 
-.PHONY: qt_sdk_version
-qt_sdk_version:
-	$(V1) $(QMAKE) --version | tail -1
+.PHONY: python_version
+python_version:
+	$(V1) $(PYTHON) --version
 
-ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
-    export QMAKE := $(QT_SDK_DIR)/bin/qmake
+else # Linux or Mac
+
+all_sdk_version: python_version
+
+.PHONY: python_version
+python_version:
+	$(V1) $(PYTHON) --version
 
-    # set Qt library search path
-    ifeq ($(UNAME), Windows)
-        export PATH := $(QT_SDK_DIR)/bin:$(PATH)
-    else
-        export LD_LIBRARY_PATH := $(QT_SDK_DIR)/lib:$(LD_LIBRARY_PATH)
-    endif
-else
-    # not installed, hope it's in the path...
-    # $(info $(EMPTY) WARNING     $(call toprel, $(QT_SDK_DIR)) not found (make qt_sdk_install), using system PATH)
-    QMAKE ?= qmake
 endif
 
-
-
-
+ifeq ($(shell [ -d "$(PYTHON_DIR)" ] && $(ECHO) "exists"), exists)
+    export PYTHON := $(PYTHON_DIR)/python
+    export PATH   := $(PYTHON_DIR):$(PATH)
+else
+    # not installed, hope it's in the path...
+    # $(info $(EMPTY) WARNING     $(call toprel, $(PYTHON_DIR)) not found (make python_install), using system PATH)
+    export PYTHON := python
+endif
 
 
 

From 3967874996ea00db4728e83b589e64456a7d96c0 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 10 Apr 2013 20:56:43 +0200
Subject: [PATCH 043/125] OP-719: use common tool install template

---
 make/tools.mk | 184 +++++++++++++++++++-------------------------------
 1 file changed, 69 insertions(+), 115 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index 123b96f2e..8dee24dc9 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -164,38 +164,50 @@ endif
 # Command to extract version info data from the repository and source tree
 export VERSION_INFO = $(PYTHON) $(ROOT_DIR)/make/scripts/version-info.py --path=$(ROOT_DIR)
 
+##############################
+#
+# Common tool install template
+#  $(1) = tool name
+#  $(2) = tool install directory
+#  $(3) = tool distribution URL
+#  $(4) = tool distribution file
+#  $(5) = optional configure template
+#
+##############################
+
+define TOOL_INSTALL_TEMPLATE
+
+.PHONY: $(addprefix $(1)_, install clean distclean)
+
+$(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
+	@$(ECHO) $(MSG_DOWNLOADING) $$(call toprel, $(DL_DIR)/$(4))
+	$(V1)echo $(CURL) $(CURL_OPTIONS) \
+		$(if $(shell [ -f "$(DL_DIR)/$(4)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(4)",) \
+		-o "$(DL_DIR)/$(4)" \
+		"$(3)"
+
+	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
+	$(V1)echo $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(TOOLS_DIR)) -xjf $$(call toprel, $(DL_DIR)/$(4))
+
+	$(5)
+
+$(1)_clean:
+	@$(ECHO) $(MSG_CLEANING) $$(call toprel, $(2))
+	$(V1)echo [ ! -d "$(2)" ] || $(RM) -rf "$(2)"
+
+$(1)_distclean:
+	@$(ECHO) $(MSG_DISTCLEANING) $$(call toprel, $$@)
+	$(V1) [ ! -f "$(DL_DIR)/$(4)" ] || $(RM) "$(DL_DIR)/$(4)"
+
+endef
+
 ##############################
 #
 # ARM SDK
 #
 ##############################
 
-ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
-
-.PHONY: arm_sdk_install
-arm_sdk_install: arm_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(ARM_SDK_FILE))
-	$(V1) $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(ARM_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(ARM_SDK_FILE)",) \
-		-o "$(DL_DIR)/$(ARM_SDK_FILE)" \
-		"$(ARM_SDK_URL)"
-
-	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(ARM_SDK_DIR))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(ARM_SDK_FILE))
-
-.PHONY: arm_sdk_clean
-arm_sdk_clean:
-	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(ARM_SDK_DIR))
-	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -rf "$(ARM_SDK_DIR)"
-
-.PHONY: arm_sdk_distclean
-arm_sdk_distclean:
-	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
-	$(V1) [ ! -f "$(DL_DIR)/$(ARM_SDK_FILE)" ] || $(RM) "$(DL_DIR)/$(ARM_SDK_FILE)"
-
-.PHONY: arm_sdk_version
-arm_sdk_version:
-	$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
+$(eval $(call TOOL_INSTALL_TEMPLATE,arm_sdk,$(ARM_SDK_DIR),$(ARM_SDK_URL),$(notdir $(ARM_SDK_URL))))
 
 ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && $(ECHO) "exists"), exists)
     export ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
@@ -205,42 +217,23 @@ else
     export ARM_SDK_PREFIX ?= arm-none-eabi-
 endif
 
+.PHONY: arm_sdk_version
+arm_sdk_version:
+	$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
+
 ##############################
 #
 # Qt SDK
 #
 ##############################
 
-QT_SDK_FILE := $(notdir $(QT_SDK_URL))
-
-.PHONY: qt_sdk_install
-qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
-	$(V1) $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(QT_SDK_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(QT_SDK_FILE)",) \
-		-o "$(DL_DIR)/$(QT_SDK_FILE)" \
-		"$(QT_SDK_URL)"
-
-	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(QT_SDK_DIR))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(QT_SDK_FILE))
-
+define QT_SDK_CONFIGURE_TEMPLATE
 	@$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(QT_SDK_DIR))
-	@$(ECHO) $(QUOTE)[Paths]$(QUOTE)		> $(QT_SDK_DIR)/bin/qt.conf
-	@$(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE)	>> $(QT_SDK_DIR)/bin/qt.conf
+	$(V1) $(ECHO) $(QUOTE)[Paths]$(QUOTE) > $(QT_SDK_DIR)/bin/qt.conf
+	$(V1) $(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE) >> $(QT_SDK_DIR)/bin/qt.conf
+endef
 
-.PHONY: qt_sdk_clean
-qt_sdk_clean:
-	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(QT_SDK_DIR))
-	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf "$(QT_SDK_DIR)"
-
-.PHONY: qt_sdk_distclean
-qt_sdk_distclean:
-	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
-	$(V1) [ ! -f "$(DL_DIR)/$(QT_SDK_FILE)" ] || $(RM) "$(DL_DIR)/$(QT_SDK_FILE)"
-
-.PHONY: qt_sdk_version
-qt_sdk_version:
-	$(V1) $(QMAKE) --version | tail -1
+$(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),$(QT_SDK_CONFIGURE_TEMPLATE)))
 
 ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
     export QMAKE := $(QT_SDK_DIR)/bin/qmake
@@ -257,43 +250,19 @@ else
     QMAKE ?= qmake
 endif
 
+.PHONY: qt_sdk_version
+qt_sdk_version:
+	$(V1) $(QMAKE) --version | tail -1
+
 ##############################
 #
-# MinGW (Windows only)
+# MinGW
 #
 ##############################
 
 ifeq ($(UNAME), Windows)
 
-MINGW_FILE := $(notdir $(MINGW_URL))
-
-.PHONY: mingw_install
-mingw_install: mingw_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(MINGW_FILE))
-	$(V1) $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(MINGW_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(MINGW_FILE)",) \
-		-o "$(DL_DIR)/$(MINGW_FILE)" \
-		"$(MINGW_URL)"
-
-	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(MINGW_DIR))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(MINGW_FILE))
-
-.PHONY: mingw_clean
-mingw_clean:
-	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(MINGW_DIR))
-	$(V1) [ ! -d "$(MINGW_DIR)" ] || $(RM) -rf "$(MINGW_DIR)"
-
-.PHONY: mingw_distclean
-mingw_distclean:
-	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
-	$(V1) [ ! -f "$(DL_DIR)/$(MINGW_FILE)" ] || $(RM) "$(DL_DIR)/$(MINGW_FILE)"
-
-.PHONY: mingw_version
-mingw_version:
-	$(V1) gcc --version | head -n1
-
-.PHONY: gcc_version
-gcc_version: mingw_version
+$(eval $(call TOOL_INSTALL_TEMPLATE,mingw,$(MINGW_DIR),$(MINGW_URL),$(notdir $(MINGW_URL))))
 
 ifeq ($(shell [ -d "$(MINGW_DIR)" ] && $(ECHO) "exists"), exists)
     # set MinGW binary and library paths (QTMINGW is used by qmake, do not rename)
@@ -304,6 +273,13 @@ else
     # $(info $(EMPTY) WARNING     $(call toprel, $(MINGW_DIR)) not found (make mingw_install), using system PATH)
 endif
 
+.PHONY: mingw_version
+mingw_version:
+	$(V1) gcc --version | head -n1
+
+.PHONY: gcc_version
+gcc_version: mingw_version
+
 else # Linux or Mac
 
 all_sdk_version: gcc_version
@@ -316,47 +292,18 @@ endif
 
 ##############################
 #
-# Python (Windows only)
+# Python
 #
 ##############################
 
 ifeq ($(UNAME), Windows)
 
-PYTHON_FILE := $(notdir $(PYTHON_URL))
-
-.PHONY: python_install
-python_install: python_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $(call toprel, $(DL_DIR)/$(PYTHON_FILE))
-	$(V1) $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(PYTHON_FILE)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(PYTHON_FILE)",) \
-		-o "$(DL_DIR)/$(PYTHON_FILE)" \
-		"$(PYTHON_URL)"
-
-	@$(ECHO) $(MSG_EXTRACTING) $(call toprel, $(PYTHON_DIR))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $(call toprel, $(TOOLS_DIR)) -xjf $(call toprel, $(DL_DIR)/$(PYTHON_FILE))
-
-.PHONY: python_clean
-python_clean:
-	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(PYTHON_DIR))
-	$(V1) [ ! -d "$(PYTHON_DIR)" ] || $(RM) -rf "$(PYTHON_DIR)"
-
-.PHONY: python_distclean
-python_distclean:
-	@$(ECHO) $(MSG_DISTCLEANING) $(call toprel, $@)
-	$(V1) [ ! -f "$(DL_DIR)/$(PYTHON_FILE)" ] || $(RM) "$(DL_DIR)/$(PYTHON_FILE)"
-
-.PHONY: python_version
-python_version:
-	$(V1) $(PYTHON) --version
+$(eval $(call TOOL_INSTALL_TEMPLATE,python,$(PYTHON_DIR),$(PYTHON_URL),$(notdir $(PYTHON_URL))))
 
 else # Linux or Mac
 
 all_sdk_version: python_version
 
-.PHONY: python_version
-python_version:
-	$(V1) $(PYTHON) --version
-
 endif
 
 ifeq ($(shell [ -d "$(PYTHON_DIR)" ] && $(ECHO) "exists"), exists)
@@ -368,6 +315,13 @@ else
     export PYTHON := python
 endif
 
+.PHONY: python_version
+python_version:
+	$(V1) $(PYTHON) --version
+
+
+
+
 
 
 

From 5be0a1919e902efca35d6f20a2707ea43c75eb2a Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 12 Apr 2013 02:49:20 +0300
Subject: [PATCH 044/125] OP-719: add md5 checksumming

---
 make/tools.mk | 40 ++++++++++++++++++++++++++--------------
 1 file changed, 26 insertions(+), 14 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index 8dee24dc9..37228be14 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -93,7 +93,9 @@ all_sdk_version:   $(addsuffix _version,$(ALL_SDK_TARGETS))
 ##############################
 
 # Define messages
+MSG_VERIFYING        = $(QUOTE) VERIFY     $(QUOTE)
 MSG_DOWNLOADING      = $(QUOTE) DOWNLOAD   $(QUOTE)
+MSG_CHECKSUMMING     = $(QUOTE) MD5        $(QUOTE)
 MSG_EXTRACTING       = $(QUOTE) EXTRACT    $(QUOTE)
 MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
 MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
@@ -104,7 +106,7 @@ MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
 ifeq ($(V), 1)
     CURL_OPTIONS :=
 else
-#   CURL_OPTIONS := --silent
+    CURL_OPTIONS := --silent
 endif
 
 # MSYS tar workaround
@@ -114,14 +116,16 @@ else
     TAR_OPTIONS :=
 endif
 
+# Print some useful notes for *_install targets
+ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKECMDGOALS))),)
 # Disable parallel make for sdk install targets to ensure ordered dependences
 # like 'arm_sdk_clean | $(DL_DIR) $(TOOLS_DIR)'. They may fail otherwise being
 # run in parallel
-ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKECMDGOALS))),)
-.NOTPARALLEL:
-    $(info $(EMPTY) NOTE        Parallel make disabled by some of tool/sdk install targets)
-    $(info $(EMPTY) NOTE        If some of install/extract targets failed, try 'make *_distclean' first)
-    $(info $(EMPTY) NOTE        Use all_sdk_version to check toolchain versions)
+#.NOTPARALLEL:
+#   $(info $(EMPTY) NOTE        Parallel make disabled by some of install targets)
+    $(info $(EMPTY) NOTE        Use 'make all_sdk_distclean' to remove installation files)
+    $(info $(EMPTY) NOTE        Use 'make all_sdk_version' to check toolchain versions)
+    $(info $(EMPTY) NOTE        Add 'V=1' to make command line to diagnose make problems)
 endif
 
 ##############################
@@ -143,6 +147,7 @@ export JAR	:= jar
 export GIT	:= git
 export CURL	:= curl
 export INSTALL	:= install
+export MD5SUM	:= md5sum
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
 # It does not work if make started under msysGit installed into a path with spaces.
@@ -180,24 +185,31 @@ define TOOL_INSTALL_TEMPLATE
 .PHONY: $(addprefix $(1)_, install clean distclean)
 
 $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
-	@$(ECHO) $(MSG_DOWNLOADING) $$(call toprel, $(DL_DIR)/$(4))
-	$(V1)echo $(CURL) $(CURL_OPTIONS) \
-		$(if $(shell [ -f "$(DL_DIR)/$(4)" ] && $(ECHO) "exists"),-z "$(DL_DIR)/$(4)",) \
-		-o "$(DL_DIR)/$(4)" \
-		"$(3)"
+	@$(ECHO) $(MSG_VERIFYING) $$(call toprel, $(DL_DIR)/$(4))
+	$(V1) ( \
+		cd "$(DL_DIR)" && \
+		$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4).md5" "$(3).md5" && \
+		if ! $(MD5SUM) -c --status "$(DL_DIR)/$(4).md5" 2>/dev/null; then \
+			$(ECHO) $(MSG_DOWNLOADING) $(3) && \
+			$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4)" "$(3)" && \
+			$(ECHO) $(MSG_CHECKSUMMING) $$(call toprel, $(DL_DIR)/$(4)) && \
+			$(MD5SUM) -c --status "$(DL_DIR)/$(4).md5" 2>/dev/null; \
+		fi; \
+	)
 
 	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
-	$(V1)echo $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(TOOLS_DIR)) -xjf $$(call toprel, $(DL_DIR)/$(4))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(TOOLS_DIR)) -xjf $$(call toprel, $(DL_DIR)/$(4))
 
 	$(5)
 
 $(1)_clean:
 	@$(ECHO) $(MSG_CLEANING) $$(call toprel, $(2))
-	$(V1)echo [ ! -d "$(2)" ] || $(RM) -rf "$(2)"
+	$(V1) [ ! -d "$(2)" ] || $(RM) -rf "$(2)"
 
 $(1)_distclean:
 	@$(ECHO) $(MSG_DISTCLEANING) $$(call toprel, $$@)
-	$(V1) [ ! -f "$(DL_DIR)/$(4)" ] || $(RM) "$(DL_DIR)/$(4)"
+	$(V1) [ ! -f "$(DL_DIR)/$(4)" ]     || $(RM) "$(DL_DIR)/$(4)"
+	$(V1) [ ! -f "$(DL_DIR)/$(4).md5" ] || $(RM) "$(DL_DIR)/$(4).md5"
 
 endef
 

From 03a4ca545ffcdca9f43dcc32fa7f779708a6f3bf Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 12 Apr 2013 12:50:12 +0300
Subject: [PATCH 045/125] Remove stray '}' in a makefile

---
 flight/targets/CopterControl/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/targets/CopterControl/Makefile b/flight/targets/CopterControl/Makefile
index f5a2b64b3..c2c69871d 100644
--- a/flight/targets/CopterControl/Makefile
+++ b/flight/targets/CopterControl/Makefile
@@ -58,7 +58,7 @@ endif
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += $(OPMODULEDIR)}/System/systemmod.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

From 3c3080a441d85ed1051da3c68632a395428a8c42 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sat, 13 Apr 2013 14:49:11 +0200
Subject: [PATCH 046/125] OP-769 OP-723 GCS main cleanups as per OPReview-440 +
 documented new -no-splash switch

---
 ground/openpilotgcs/src/app/main.cpp | 517 ++++++++++++++-------------
 1 file changed, 259 insertions(+), 258 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index d051f06ca..84c25f522 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -79,307 +79,305 @@
 
 namespace {
 
-typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
-typedef QMap<QString, bool> AppOptions;
-typedef QMap<QString, QString> FoundAppOptions;
+    typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
+    typedef QMap<QString, bool> AppOptions;
+    typedef QMap<QString, QString> FoundAppOptions;
 
-enum {
-    OptionIndent = 4, DescriptionIndent = 24
-};
+    enum {
+        OptionIndent = 4, DescriptionIndent = 24
+    };
 
-static const char *appNameC = "OpenPilot GCS";
+    const char *appNameC = "OpenPilot GCS";
 
-static const char *corePluginNameC = "Core";
+    const char *corePluginNameC = "Core";
 
 #ifdef Q_OS_MAC
-static const char *SHARE_PATH = "/../Resources";
+    const char *SHARE_PATH = "/../Resources";
 #else
-static const char *SHARE_PATH = "/../share/openpilotgcs";
+    const char *SHARE_PATH = "/../share/openpilotgcs";
 #endif
 
-static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
+    const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
-static const char *fixedOptionsC =
-" [OPTION]... [FILE]...\n"
-"Options:\n"
-"    -help               Display this help\n"
-"    -version            Display program version\n"
-"    -client             Attempt to connect to already running instance\n"
-"    -clean-config       Delete all existing configuration settings\n"
-"    -exit-after-config  Exit GCS after manipulating configuration settings\n"
-"    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
-"    -reset              Reset user settings to factory defaults.\n";
+    const char *fixedOptionsC =
+        " [OPTION]... [FILE]...\n"
+        "Options:\n"
+        "    -help               Display this help\n"
+        "    -version            Display program version\n"
+        "    -no-splash          Don't display splash screen\n"
+        "    -client             Attempt to connect to already running instance\n"
+        "    -clean-config       Delete all existing configuration settings\n"
+        "    -exit-after-config  Exit GCS after manipulating configuration settings\n"
+        "    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
+        "    -reset              Reset user settings to factory defaults.\n";
 
-static QLatin1String HELP_OPTION1("-h");
-static QLatin1String HELP_OPTION2("-help");
-static QLatin1String HELP_OPTION3("/h");
-static QLatin1String HELP_OPTION4("--help");
-static QLatin1String VERSION_OPTION("-version");
-static QLatin1String CLIENT_OPTION("-client");
-static QLatin1String CONFIG_OPTION("-D");
-static QLatin1String CLEAN_CONFIG_OPTION("-clean-config");
-static QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
-static QLatin1String RESET("-reset");
-static QLatin1String NO_SPLASH("-no-splash");
+    const QLatin1String HELP_OPTION1("-h");
+    const QLatin1String HELP_OPTION2("-help");
+    const QLatin1String HELP_OPTION3("/h");
+    const QLatin1String HELP_OPTION4("--help");
+    const QLatin1String VERSION_OPTION("-version");
+    const QLatin1String CLIENT_OPTION("-client");
+    const QLatin1String CONFIG_OPTION("-D");
+    const QLatin1String CLEAN_CONFIG_OPTION("-clean-config");
+    const QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
+    const QLatin1String RESET("-reset");
+    const QLatin1String NO_SPLASH("-no-splash");
 
-// Helpers for displaying messages. Note that there is no console on Windows.
+    // Helpers for displaying messages. Note that there is no console on Windows.
 #ifdef Q_OS_WIN
-// Format as <pre> HTML
-inline void toHtml(QString &t)
-{
-    t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
-    t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
-    t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
-    t.insert(0, QLatin1String("<html><pre>"));
-    t.append(QLatin1String("</pre></html>"));
-}
 
-void displayHelpText(QString t) // No console on Windows.
-{
-    toHtml(t);
-    QMessageBox::information(0, QLatin1String(appNameC), t);
-}
+    // Format as <pre> HTML
+    inline void toHtml(QString &t)
+    {
+        t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
+        t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
+        t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
+        t.insert(0, QLatin1String("<html><pre>"));
+        t.append(QLatin1String("</pre></html>"));
+    }
 
-void displayError(const QString &t) // No console on Windows.
-{
-    QMessageBox::critical(0, QLatin1String(appNameC), t);
-}
+    void displayHelpText(QString t) // No console on Windows.
+    {
+        toHtml(t);
+        QMessageBox::information(0, QLatin1String(appNameC), t);
+    }
+
+    void displayError(const QString &t) // No console on Windows.
+    {
+        QMessageBox::critical(0, QLatin1String(appNameC), t);
+    }
 
 #else
 
-void displayHelpText(const QString &t)
-{
-    qWarning("%s", qPrintable(t));
-}
+    void displayHelpText(const QString &t)
+    {
+        qWarning("%s", qPrintable(t));
+    }
 
-void displayError(const QString &t)
-{
-    qCritical("%s", qPrintable(t));
-}
+    void displayError(const QString &t)
+    {
+        qCritical("%s", qPrintable(t));
+    }
 
 #endif
 
-void printVersion(const ExtensionSystem::PluginSpec *coreplugin, const ExtensionSystem::PluginManager &pm)
-{
-    QString version;
-    QTextStream str(&version);
-    str << '\n' << appNameC << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
-    pm.formatPluginVersions(str);
-    str << '\n' << coreplugin->copyright() << '\n';
-    displayHelpText(version);
-}
+    void printVersion(const ExtensionSystem::PluginSpec *coreplugin, const ExtensionSystem::PluginManager &pm)
+    {
+        QString version;
+        QTextStream str(&version);
+        str << '\n' << appNameC << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
+        pm.formatPluginVersions(str);
+        str << '\n' << coreplugin->copyright() << '\n';
+        displayHelpText(version);
+    }
 
-void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
-{
-    QString help;
-    QTextStream str(&help);
-    str << "Usage: " << a0 << fixedOptionsC;
-    ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
-    pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
-    displayHelpText(help);
-}
+    void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
+    {
+        QString help;
+        QTextStream str(&help);
+        str << "Usage: " << a0 << fixedOptionsC;
+        ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
+        pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
+        displayHelpText(help);
+    }
 
-inline QString msgCoreLoadFailure(const QString &why)
-{
-    return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
-}
+    inline QString msgCoreLoadFailure(const QString &why)
+    {
+        return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
+    }
 
-inline QString msgSendArgumentFailed()
-{
-    return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
-}
+    inline QString msgSendArgumentFailed()
+    {
+        return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
+    }
 
-// Prepare a remote argument: If it is a relative file, add the current directory
-// since the the central instance might be running in a different directory.
+    // Prepare a remote argument: If it is a relative file, add the current directory
+    // since the the central instance might be running in a different directory.
 
-inline QString prepareRemoteArgument(const QString &a)
-{
-    QFileInfo fi(a);
-    if (!fi.exists()) {
+    inline QString prepareRemoteArgument(const QString &a)
+    {
+        QFileInfo fi(a);
+        if (!fi.exists()) {
+            return a;
+        }
+        if (fi.isRelative()) {
+            return fi.absoluteFilePath();
+        }
         return a;
     }
-    if (fi.isRelative()) {
-        return fi.absoluteFilePath();
-    }
-    return a;
-}
 
-// Send the arguments to an already running instance of OpenPilot GCS
-bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
-{
-    if (!arguments.empty()) {
-        // Send off arguments
-        const QStringList::const_iterator acend = arguments.constEnd();
-        for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
-            if (!app.sendMessage(prepareRemoteArgument(*it))) {
-                displayError(msgSendArgumentFailed());
-                return false;
+    // Send the arguments to an already running instance of OpenPilot GCS
+    bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
+    {
+        if (!arguments.empty()) {
+            // Send off arguments
+            const QStringList::const_iterator acend = arguments.constEnd();
+            for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
+                if (!app.sendMessage(prepareRemoteArgument(*it))) {
+                    displayError(msgSendArgumentFailed());
+                    return false;
+                }
             }
         }
+        // Special empty argument means: Show and raise (the slot just needs to be triggered)
+        if (!app.sendMessage(QString())) {
+            displayError(msgSendArgumentFailed());
+            return false;
+        }
+        return true;
     }
-    // Special empty argument means: Show and raise (the slot just needs to be triggered)
-    if (!app.sendMessage(QString())) {
-        displayError(msgSendArgumentFailed());
-        return false;
-    }
-    return true;
-}
 
-void systemInit()
-{
+    void systemInit()
+    {
 #ifdef Q_OS_MAC
-    // increase the number of file that can be opened in OpenPilot GCS
-    struct rlimit rl;
-    getrlimit(RLIMIT_NOFILE, &rl);
-    rl.rlim_cur = rl.rlim_max;
-    setrlimit(RLIMIT_NOFILE, &rl);
+        // increase the number of file that can be opened in OpenPilot GCS
+        struct rlimit rl;
+        getrlimit(RLIMIT_NOFILE, &rl);
+        rl.rlim_cur = rl.rlim_max;
+        setrlimit(RLIMIT_NOFILE, &rl);
 #endif
 #ifdef Q_OS_LINUX
-    QApplication::setAttribute(Qt::AA_X11InitThreads, true);
+        QApplication::setAttribute(Qt::AA_X11InitThreads, true);
 #endif
-}
-
-inline QStringList getPluginPaths()
-{
-    QStringList rc;
-    // Figure out root:  Up one from 'bin'
-    QDir rootDir = QApplication::applicationDirPath();
-    rootDir.cdUp();
-    const QString rootDirPath = rootDir.canonicalPath();
-    // 1) "plugins" (Win/Linux)
-    QString pluginPath = rootDirPath;
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("openpilotgcs");
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("plugins");
-    rc.push_back(pluginPath);
-    // 2) "PlugIns" (OS X)
-    pluginPath = rootDirPath;
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("Plugins");
-    rc.push_back(pluginPath);
-    return rc;
-}
-
-AppOptions options()
-{
-    AppOptions appOptions;
-    appOptions.insert(HELP_OPTION1, false);
-    appOptions.insert(HELP_OPTION2, false);
-    appOptions.insert(HELP_OPTION3, false);
-    appOptions.insert(HELP_OPTION4, false);
-    appOptions.insert(VERSION_OPTION, false);
-    appOptions.insert(CLIENT_OPTION, false);
-    appOptions.insert(CONFIG_OPTION, true);
-    appOptions.insert(CLEAN_CONFIG_OPTION, false);
-    appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
-    appOptions.insert(RESET, false);
-    appOptions.insert(NO_SPLASH, false);
-    return appOptions;
-}
-
-FoundAppOptions parseCommandLine(SharedTools::QtSingleApplication &app, ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
-{
-    FoundAppOptions foundAppOptions;
-    const QStringList arguments = app.arguments();
-    if (arguments.size() > 1) {
-        AppOptions appOptions = options();
-        if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
-//            displayError(errorMessage);
-//            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
-        }
-    }
-    return foundAppOptions;
-}
-
-void loadFactoryDefaults(QSettings &settings)
-{
-    QDir directory(QCoreApplication::applicationDirPath() + QString(SHARE_PATH) + QString("/default_configurations"));
-
-    qDebug() << "Looking for configuration files in:" << directory.absolutePath();
-
-    // check if command line contains a config file name
-    QString commandLine;
-    foreach(QString str, qApp->arguments()) {
-        if (str.contains("configfile")) {
-            commandLine = str.split("=").at(1);
-        }
-    }
-    QString filename;
-    if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
-        // use file name specified on command line
-        filename = directory.absolutePath() + QDir::separator() + commandLine;
-        qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
-    } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
-        // use default file name
-        filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
-        qDebug() << "Default configuration file" << filename << "will be loaded.";
-    } else {
-        // TODO should we exit violently?
-        qWarning() << "No default configuration file found!";
-        return;
     }
 
-    // create settings from file
-    QSettings qs(filename, XmlConfig::XmlSettingsFormat);
-
-    // transfer loaded settings to application settings
-    QStringList keys = qs.allKeys();
-    foreach(QString key, keys) {
-        settings.setValue(key, qs.value(key));
+    inline QStringList getPluginPaths()
+    {
+        QStringList rc;
+        // Figure out root:  Up one from 'bin'
+        QDir rootDir = QApplication::applicationDirPath();
+        rootDir.cdUp();
+        const QString rootDirPath = rootDir.canonicalPath();
+        // 1) "plugins" (Win/Linux)
+        QString pluginPath = rootDirPath;
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("openpilotgcs");
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("plugins");
+        rc.push_back(pluginPath);
+        // 2) "PlugIns" (OS X)
+        pluginPath = rootDirPath;
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("Plugins");
+        rc.push_back(pluginPath);
+        return rc;
     }
 
-    qDebug() << "Configuration file" << filename << "was loaded.";
-}
+    AppOptions options()
+    {
+        AppOptions appOptions;
+        appOptions.insert(HELP_OPTION1, false);
+        appOptions.insert(HELP_OPTION2, false);
+        appOptions.insert(HELP_OPTION3, false);
+        appOptions.insert(HELP_OPTION4, false);
+        appOptions.insert(VERSION_OPTION, false);
+        appOptions.insert(CLIENT_OPTION, false);
+        appOptions.insert(CONFIG_OPTION, true);
+        appOptions.insert(CLEAN_CONFIG_OPTION, false);
+        appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
+        appOptions.insert(RESET, false);
+        appOptions.insert(NO_SPLASH, false);
+        return appOptions;
+    }
 
-void overrideSettings(QSettings &settings, int argc, char **argv)
-{
-    // Options like -DMy/setting=test
-    QRegExp rx("([^=]+)=(.*)");
-
-    QMap<QString, QString> settingOptions;
-    for (int i = 0; i < argc; ++i) {
-        if (QString(CONFIG_OPTION).compare(QString(argv[i])) == 0) {
-            if (rx.indexIn(argv[++i]) > -1) {
-                settingOptions.insert(rx.cap(1), rx.cap(2));
+    FoundAppOptions parseCommandLine(SharedTools::QtSingleApplication &app, ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
+    {
+        FoundAppOptions foundAppOptions;
+        const QStringList arguments = app.arguments();
+        if (arguments.size() > 1) {
+            AppOptions appOptions = options();
+            if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
+    //            displayError(errorMessage);
+    //            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
             }
         }
-        if (QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0) {
-            settings.clear();
+        return foundAppOptions;
+    }
+
+    void loadFactoryDefaults(QSettings &settings)
+    {
+        QDir directory(QCoreApplication::applicationDirPath() + QString(SHARE_PATH) + QString("/default_configurations"));
+
+        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
+
+        // check if command line contains a config file name
+        QString commandLine;
+        foreach(QString str, qApp->arguments()) {
+            if (str.contains("configfile")) {
+                commandLine = str.split("=").at(1);
+            }
         }
-    }
-
-    QList<QString> keys = settingOptions.keys();
-    foreach (QString key, keys) {
-        qDebug() << "Overriding user setting:" << key << "with value" << settingOptions.value(key);
-        settings.setValue(key, settingOptions.value(key));
-    }
-
-    settings.sync();
-}
-
-void loadTranslators(QString language)
-{
-    // TODO static!?!
-    static QTranslator translator;
-    static QTranslator qtTranslator;
-
-    const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH) + QLatin1String("/translations");
-    if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
-        const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
-        const QString &qtTrFile = QLatin1String("qt_") + language;
-        // Binary installer puts Qt tr files into creatorTrPath
-        if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
-            QCoreApplication::installTranslator(&translator);
-            QCoreApplication::installTranslator(&qtTranslator);
+        QString filename;
+        if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
+            // use file name specified on command line
+            filename = directory.absolutePath() + QDir::separator() + commandLine;
+            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
+        } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+            // use default file name
+            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+            qDebug() << "Default configuration file" << filename << "will be loaded.";
         } else {
-            // unload()
-            translator.load(QString());
+            // TODO should we exit violently?
+            qWarning() << "No default configuration file found!";
+            return;
+        }
+
+        // create settings from file
+        QSettings qs(filename, XmlConfig::XmlSettingsFormat);
+
+        // transfer loaded settings to application settings
+        QStringList keys = qs.allKeys();
+        foreach(QString key, keys) {
+            settings.setValue(key, qs.value(key));
+        }
+
+        qDebug() << "Configuration file" << filename << "was loaded.";
+    }
+
+    void overrideSettings(QSettings &settings, int argc, char **argv)
+    {
+        // Options like -DMy/setting=test
+        QRegExp rx("([^=]+)=(.*)");
+
+        QMap<QString, QString> settingOptions;
+        for (int i = 0; i < argc; ++i) {
+            if (QString(CONFIG_OPTION).compare(QString(argv[i])) == 0) {
+                if (rx.indexIn(argv[++i]) > -1) {
+                    settingOptions.insert(rx.cap(1), rx.cap(2));
+                }
+            }
+            if (QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0) {
+                settings.clear();
+            }
+        }
+
+        QList<QString> keys = settingOptions.keys();
+        foreach (QString key, keys) {
+            qDebug() << "Overriding user setting:" << key << "with value" << settingOptions.value(key);
+            settings.setValue(key, settingOptions.value(key));
+        }
+
+        settings.sync();
+    }
+
+    void loadTranslators(QString language, QTranslator &translator, QTranslator &qtTranslator)
+    {
+        const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH) + QLatin1String("/translations");
+        if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
+            const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
+            const QString &qtTrFile = QLatin1String("qt_") + language;
+            // Binary installer puts Qt tr files into creatorTrPath
+            if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
+                QCoreApplication::installTranslator(&translator);
+                QCoreApplication::installTranslator(&qtTranslator);
+            } else {
+                // unload()
+                translator.load(QString());
+            }
         }
     }
-}
 
 } //  namespace anonymous
 
@@ -404,6 +402,8 @@ int main(int argc, char **argv)
     QString errorMessage;
     FoundAppOptions foundAppOptions = parseCommandLine(app, pluginManager, errorMessage);
     if (!errorMessage.isEmpty()) {
+        // this will display two popups : one error popup + one usage string popup
+        // TODO merge two popups into one.
         displayError(errorMessage);
         printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
         return -1;
@@ -454,7 +454,9 @@ int main(int argc, char **argv)
     // if the translation file for the given language is not found, GCS will default to built in English.
     QString language = settings.value("General/OverrideLanguage", localeName).toString();
     qDebug() << "main - translation language:" << language;
-    loadTranslators(language);
+    QTranslator translator;
+    QTranslator qtTranslator;
+    loadTranslators(language, translator, qtTranslator);
 
     app.setProperty("qtc_locale", localeName); // Do we need this?
 
@@ -544,10 +546,9 @@ int main(int argc, char **argv)
     QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
 
     if (splash) {
-        // Update message and postpone closing of splashscreen 3 seconds
-        splash->showProgressMessage(QObject::tr("Application started."));
-        QTimer::singleShot(1500, splash, SLOT(close()));
-        // TODO delete splash
+        // close and delete splash
+        splash->close();
+        delete splash;
     }
 
     qDebug() << "main - main took" << timer.elapsed() << "ms";

From 28314ec1707f682ee409bfef231f2d28aad47d0c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 13 Apr 2013 22:51:33 +0300
Subject: [PATCH 047/125] OP-719: add linux x64 version of qt-4.8.4

It seems we must ship GCS with all Qt libs like we do for Windows.
On Ubuntu x64 the GCS built with this crashes using system libs.

But since it's possible to build GCS using natively installed
Qt SDK, it is not a problem for now. Something is better than
nothing, and two ways of building are better then just one.

+review OPReview-441
---
 make/tools.mk | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/make/tools.mk b/make/tools.mk
index 37228be14..e6c279d3e 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -53,7 +53,11 @@ endif
 
 ifeq ($(UNAME), Linux)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
-    QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
+    ifeq ($(ARCH), x86_64)
+        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux-x64.tar.bz2
+    else
+        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
+    endif
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
     QT_SDK_URL  := TODO/qt-4.8.4-mac.tar.bz2

From afbb11f43e0507f647998fb4177a4619d52700a6 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sun, 14 Apr 2013 01:36:07 +0200
Subject: [PATCH 048/125] Fix 'variable not used' warning. Still needs to be
 reworked for timing

---
 flight/Modules/ManualControl/manualcontrol.c | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 4a4481566..de3ca578a 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -697,11 +697,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool home)
 {
 	static portTickType lastSysTime;
-	portTickType thisSysTime;
-	float dT;
-
-	thisSysTime = xTaskGetTickCount();
-	dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
+	portTickType thisSysTime = xTaskGetTickCount();
+	/* float dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; */
 	lastSysTime = thisSysTime;
 
 	if (home && changed) {
@@ -738,16 +735,15 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool
 		pathDesired.EndingVelocity=0;
 		pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
 		PathDesiredSet(&pathDesired);
+	/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
 	} else {
-		
-/*Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.		
 		PathDesiredData pathDesired;
 		PathDesiredGet(&pathDesired);
 		pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch;
 		pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll;
 		pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
 		PathDesiredSet(&pathDesired);
-*/ 
+	*/
 	}
 }
 

From 159dae9c9bbf6946340486827296097f7f6794a8 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sun, 14 Apr 2013 04:17:10 +0300
Subject: [PATCH 049/125] OP-719: print error message if curl is not available
 and stop

+review OPReview-441
---
 make/tools.mk | 82 +++++++++++++++++++++++++--------------------------
 1 file changed, 40 insertions(+), 42 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index e6c279d3e..1f76c8250 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -90,48 +90,6 @@ all_sdk_clean:     $(addsuffix _clean,$(ALL_SDK_TARGETS))
 all_sdk_distclean: $(addsuffix _distclean,$(ALL_SDK_TARGETS))
 all_sdk_version:   $(addsuffix _version,$(ALL_SDK_TARGETS))
 
-##############################
-#
-# Misc settings
-#
-##############################
-
-# Define messages
-MSG_VERIFYING        = $(QUOTE) VERIFY     $(QUOTE)
-MSG_DOWNLOADING      = $(QUOTE) DOWNLOAD   $(QUOTE)
-MSG_CHECKSUMMING     = $(QUOTE) MD5        $(QUOTE)
-MSG_EXTRACTING       = $(QUOTE) EXTRACT    $(QUOTE)
-MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
-MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
-MSG_CLEANING         = $(QUOTE) CLEAN      $(QUOTE)
-MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
-
-# Verbosity level
-ifeq ($(V), 1)
-    CURL_OPTIONS :=
-else
-    CURL_OPTIONS := --silent
-endif
-
-# MSYS tar workaround
-ifeq ($(UNAME), Windows)
-    TAR_OPTIONS := --force-local
-else
-    TAR_OPTIONS :=
-endif
-
-# Print some useful notes for *_install targets
-ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKECMDGOALS))),)
-# Disable parallel make for sdk install targets to ensure ordered dependences
-# like 'arm_sdk_clean | $(DL_DIR) $(TOOLS_DIR)'. They may fail otherwise being
-# run in parallel
-#.NOTPARALLEL:
-#   $(info $(EMPTY) NOTE        Parallel make disabled by some of install targets)
-    $(info $(EMPTY) NOTE        Use 'make all_sdk_distclean' to remove installation files)
-    $(info $(EMPTY) NOTE        Use 'make all_sdk_version' to check toolchain versions)
-    $(info $(EMPTY) NOTE        Add 'V=1' to make command line to diagnose make problems)
-endif
-
 ##############################
 #
 # Misc host tools
@@ -173,6 +131,46 @@ endif
 # Command to extract version info data from the repository and source tree
 export VERSION_INFO = $(PYTHON) $(ROOT_DIR)/make/scripts/version-info.py --path=$(ROOT_DIR)
 
+##############################
+#
+# Misc settings
+#
+##############################
+
+# Define messages
+MSG_VERIFYING        = $(QUOTE) VERIFY     $(QUOTE)
+MSG_DOWNLOADING      = $(QUOTE) DOWNLOAD   $(QUOTE)
+MSG_CHECKSUMMING     = $(QUOTE) MD5        $(QUOTE)
+MSG_EXTRACTING       = $(QUOTE) EXTRACT    $(QUOTE)
+MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
+MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
+MSG_CLEANING         = $(QUOTE) CLEAN      $(QUOTE)
+MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
+
+# Verbosity level
+ifeq ($(V), 1)
+    CURL_OPTIONS :=
+else
+    CURL_OPTIONS := --silent
+endif
+
+# MSYS tar workaround
+ifeq ($(UNAME), Windows)
+    TAR_OPTIONS := --force-local
+else
+    TAR_OPTIONS :=
+endif
+
+# Print some useful notes for *_install targets
+ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKECMDGOALS))),)
+    ifneq ($(shell $(CURL) --version >/dev/null 2>&1 && $(ECHO) "found"), found)
+        $(error Please install curl first ('apt-get install curl' or similar))
+    endif
+    $(info $(EMPTY) NOTE        Use 'make all_sdk_distclean' to remove installation files)
+    $(info $(EMPTY) NOTE        Use 'make all_sdk_version' to check toolchain versions)
+    $(info $(EMPTY) NOTE        Add 'V=1' to make command line to diagnose make problems)
+endif
+
 ##############################
 #
 # Common tool install template

From cb4cfac0f37868e37000a63162c2d5f01b35e896 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sun, 14 Apr 2013 14:09:46 +0300
Subject: [PATCH 050/125] OP-719: fix +x for openpilotgcs on linux

---
 ground/openpilotgcs/bin/openpilotgcs | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 mode change 100644 => 100755 ground/openpilotgcs/bin/openpilotgcs

diff --git a/ground/openpilotgcs/bin/openpilotgcs b/ground/openpilotgcs/bin/openpilotgcs
old mode 100644
new mode 100755

From 361f8397c9bb23fffa24c8b880278ba5d9e26c2e Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sun, 14 Apr 2013 13:24:07 +0200
Subject: [PATCH 051/125] OP-885 Fixed some code formatting issues.

---
 .../uavobjectutil/devicedescriptorstruct.h    | 21 +++--
 .../src/plugins/uploader/devicewidget.cpp     | 87 ++++++++-----------
 .../src/plugins/uploader/devicewidget.h       |  4 +-
 .../plugins/uploader/runningdevicewidget.cpp  | 28 +++---
 .../plugins/uploader/runningdevicewidget.h    |  5 +-
 .../plugins/uploader/uploadergadgetwidget.cpp | 16 ++--
 6 files changed, 75 insertions(+), 86 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index 5dbf831e9..fb7cf2288 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -15,27 +15,34 @@ public:
        static QString idToBoardName(int id)
        {
            switch (id) {
-           case 0x0101://MB
+           case 0x0101:
+               // MB
                return QString("OpenPilot MainBoard");
                break;
-           case 0x0201://INS
+           case 0x0201:
+               // INS
                return QString("OpenPilot INS");
                break;
-           case 0x0301://PipX
+           case 0x0301:
+               // OPLink Mini
                return QString("OPLink");
                break;
-           case 0x0401://Coptercontrol
+           case 0x0401:
+               // Coptercontrol
                return QString("CopterControl");
                break;
-           case 0x0402://Coptercontrol
+           case 0x0402:
+               // Coptercontrol 3D
                // It would be nice to say CC3D here but since currently we use string comparisons
                // for firmware compatibility and the filename path that would break
                return QString("CopterControl");
                break;
-           case 0x0901://Revolution
+           case 0x0901:
+               // Revolution
                return QString("Revolution");
                break;
-           case 0x0903://Revo Mini
+           case 0x0903:
+               // Revo Mini
                return QString("Revolution");
                break;
            default:
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index 86d3d6aec..f2e7b9c73 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -26,7 +26,7 @@
  */
 #include "devicewidget.h"
 
-deviceWidget::deviceWidget(QWidget *parent) :
+DeviceWidget::DeviceWidget(QWidget *parent) :
     QWidget(parent)
 {
     myDevice = new Ui_deviceWidget();
@@ -47,8 +47,7 @@ deviceWidget::deviceWidget(QWidget *parent) :
     myDevice->lblCertified->setText("");
 }
 
-
-void deviceWidget::showEvent(QShowEvent *event)
+void DeviceWidget::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event)
     // Thit fitInView method should only be called now, once the
@@ -57,18 +56,18 @@ void deviceWidget::showEvent(QShowEvent *event)
     myDevice->gVDevice->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 }
 
-void deviceWidget::resizeEvent(QResizeEvent* event)
+void DeviceWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
     myDevice->gVDevice->fitInView(devicePic.rect(), Qt::KeepAspectRatio);
 }
 
-
-void deviceWidget::setDeviceID(int devID){
+void DeviceWidget::setDeviceID(int devID)
+{
     deviceID = devID;
 }
 
-void deviceWidget::setDfu(DFUObject *dfu)
+void DeviceWidget::setDfu(DFUObject *dfu)
 {
     m_dfu = dfu;
 }
@@ -76,9 +75,8 @@ void deviceWidget::setDfu(DFUObject *dfu)
 /**
   Fills the various fields for the device
   */
-void deviceWidget::populate()
+void DeviceWidget::populate()
 {
-
     int id = m_dfu->devices[deviceID].ID;
     myDevice->lbldevID->setText(QString("Device ID: ") + QString::number(id, 16));
     // DeviceID tells us what sort of HW we have detected:
@@ -89,10 +87,8 @@ void deviceWidget::populate()
 
     switch (id) {
     case 0x0101:
-        devicePic.load("");//TODO
-        break;
     case 0x0201:
-        devicePic.load("");//TODO
+        devicePic.load("");
         break;
     case 0x0301:
         devicePic.load(":/uploader/images/gcs-board-oplink.png");
@@ -107,7 +103,8 @@ void deviceWidget::populate()
         devicePic.load(":/uploader/images/gcs-board-revo.png");
         break;
     default:
-        devicePic.load(""); //Clear
+        // Clear
+        devicePic.load("");
         break;
     }
     myDevice->gVDevice->scene()->addPixmap(devicePic);
@@ -145,12 +142,12 @@ void deviceWidget::populate()
   Freezes the contents of the widget so that a user cannot
   try to modify the contents
   */
-void deviceWidget::freeze()
+void DeviceWidget::freeze()
 {
     updateButtons(false);
 }
 
-void deviceWidget::updateButtons(bool enabled)
+void DeviceWidget::updateButtons(bool enabled)
 {
     if (!enabled) {
         myDevice->description->setEnabled(false);
@@ -175,22 +172,19 @@ void deviceWidget::updateButtons(bool enabled)
   Populates the widget field with the description in case
   it is structured properly
   */
-bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
+bool DeviceWidget::populateBoardStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription))
-    {
+    if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription)) {
         myDevice->lblGitTag->setText(onBoardDescription.gitHash);
         myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if(onBoardDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
-        {
+        if(onBoardDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive)) {
             myDevice->lblDescription->setText(onBoardDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
             myDevice->lblCertified->setPixmap(pix);
             myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
 
         }
-        else
-        {
+        else {
             myDevice->lblDescription->setText(onBoardDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
             myDevice->lblCertified->setPixmap(pix);
@@ -203,24 +197,20 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
     }
 
     return false;
-
 }
-bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
+
+bool DeviceWidget::populateLoadedStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription))
-    {
+    if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription)) {
         myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
-        myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if(LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
-        {
+        myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4, "-").insert(7, "-"));
+        if(LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive)) {
             myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
             myDevice->description->setText(LoadedDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
             myDevice->lblCertifiedL->setPixmap(pix);
             myDevice->lblCertifiedL->setToolTip(tr("Tagged officially released firmware build"));
-        }
-        else
-        {
+        } else {
             myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
             myDevice->description->setText(LoadedDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
@@ -231,19 +221,18 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
 
         return true;
     }
-
     return false;
-
 }
+
 /**
   Updates status message for messages coming from DFU
   */
-void deviceWidget::dfuStatus(QString str)
+void DeviceWidget::dfuStatus(QString str)
 {
     status(str, STATUSICON_RUNNING);
 }
 
-void deviceWidget::confirmCB(int value)
+void DeviceWidget::confirmCB(int value)
 {
     updateButtons(true);
 }
@@ -251,7 +240,7 @@ void deviceWidget::confirmCB(int value)
 /**
   Updates status message
   */
-void deviceWidget::status(QString str, StatusIcon ic)
+void DeviceWidget::status(QString str, StatusIcon ic)
 {
     QPixmap px;
     myDevice->statusLabel->setText(str);
@@ -271,8 +260,7 @@ void deviceWidget::status(QString str, StatusIcon ic)
     myDevice->statusIcon->setPixmap(px);
 }
 
-
-void deviceWidget::loadFirmware()
+void DeviceWidget::loadFirmware()
 {
     myDevice->verticalGroupBox_loaded->setVisible(false);
     myDevice->groupCustom->setVisible(false);
@@ -299,13 +287,12 @@ void deviceWidget::loadFirmware()
     QPixmap px;
     if (loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode) {
         myDevice->lblCRCL->setText(tr("Can't calculate, file too big for device"));
-    }
-    else {
+    } else {
         myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
     }
+
     //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
-    if (populateLoadedStructuredDescription(desc))
-    {
+    if (populateLoadedStructuredDescription(desc)) {
         myDevice->confirmCheckBox->setChecked(true);
         myDevice->verticalGroupBox_loaded->setVisible(true);
         myDevice->groupCustom->setVisible(false);
@@ -339,7 +326,7 @@ void deviceWidget::loadFirmware()
 /**
   Sends a firmware to the device
   */
-void deviceWidget::uploadFirmware()
+void DeviceWidget::uploadFirmware()
 {
     // clear progress bar now
     // this avoids displaying an error message and the progress at 100% at the same time
@@ -422,7 +409,7 @@ void deviceWidget::uploadFirmware()
 /**
   Retrieves the firmware from the device
   */
-void deviceWidget::downloadFirmware()
+void DeviceWidget::downloadFirmware()
 {
     // clear progress bar now
     // this avoids displaying an error message and the progress at 100% at the same time
@@ -466,7 +453,7 @@ void deviceWidget::downloadFirmware()
 /**
   Callback for the firmware download result
   */
-void deviceWidget::downloadFinished()
+void DeviceWidget::downloadFinished()
 {
     disconnect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished()));
     disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
@@ -482,7 +469,7 @@ void deviceWidget::downloadFinished()
 /**
   Callback for the firmware upload result
   */
-void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
+void DeviceWidget::uploadFinished(OP_DFU::Status retstatus)
 {
     disconnect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
     disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
@@ -529,7 +516,7 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
 /**
   Slot to update the progress bar
   */
-void deviceWidget::setProgress(int percent)
+void DeviceWidget::setProgress(int percent)
 {
     myDevice->progressBar->setValue(percent);
 }
@@ -537,7 +524,7 @@ void deviceWidget::setProgress(int percent)
 /**
  *Opens an open file dialog.
  */
-QString deviceWidget::setOpenFileName()
+QString DeviceWidget::setOpenFileName()
 {
     QFileDialog::Options options;
     QString selectedFilter;
@@ -576,7 +563,7 @@ QString deviceWidget::setOpenFileName()
 /**
  *Set the save file name
  */
-QString deviceWidget::setSaveFileName()
+QString DeviceWidget::setSaveFileName()
 {
     QFileDialog::Options options;
     QString selectedFilter;
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
index bc44b8883..b87988c16 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
@@ -45,11 +45,11 @@
 #include "uploader_global.h"
 
 using namespace OP_DFU;
-class UPLOADER_EXPORT deviceWidget : public QWidget
+class UPLOADER_EXPORT DeviceWidget : public QWidget
 {
     Q_OBJECT
 public:
-    deviceWidget(QWidget *parent = 0);
+    DeviceWidget(QWidget *parent = 0);
     void setDeviceID(int devID);
     void setDfu(DFUObject* dfu);
     void populate();
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 60cb8cb2c..539a3042f 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -27,7 +27,8 @@
 #include "runningdevicewidget.h"
 #include "devicedescriptorstruct.h"
 #include "uploadergadgetwidget.h"
-runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
+
+RunningDeviceWidget::RunningDeviceWidget(QWidget *parent) :
     QWidget(parent)
 {
     myDevice = new Ui_runningDeviceWidget();
@@ -35,11 +36,9 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
 
     // Initialization of the Device icon display
     myDevice->devicePicture->setScene(new QGraphicsScene(this));
-
 }
 
-
-void runningDeviceWidget::showEvent(QShowEvent *event)
+void RunningDeviceWidget::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event)
     // Thit fitInView method should only be called now, once the
@@ -48,7 +47,7 @@ void runningDeviceWidget::showEvent(QShowEvent *event)
     myDevice->devicePicture->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 }
 
-void runningDeviceWidget::resizeEvent(QResizeEvent* event)
+void RunningDeviceWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
     myDevice->devicePicture->fitInView(devicePic.rect(), Qt::KeepAspectRatio);
@@ -57,7 +56,7 @@ void runningDeviceWidget::resizeEvent(QResizeEvent* event)
 /**
   Fills the various fields for the device
   */
-void runningDeviceWidget::populate()
+void RunningDeviceWidget::populate()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
@@ -65,19 +64,17 @@ void runningDeviceWidget::populate()
 
     myDevice->lblDeviceID->setText(QString("Device ID: ") + QString::number(id, 16));
     myDevice->lblBoardName->setText(deviceDescriptorStruct::idToBoardName(id));
-    myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x00FF, 16));
-    qDebug()<<"CRC"<<utilMngr->getFirmwareCRC();
-    myDevice->lblCRC->setText(QString(tr("Firmware CRC: "))+QVariant(utilMngr->getFirmwareCRC()).toString());
+    myDevice->lblHWRev->setText(QString(tr("HW Revision: ")) + QString::number(id & 0x00FF, 16));
+    qDebug() << "CRC" << utilMngr->getFirmwareCRC();
+    myDevice->lblCRC->setText(QString(tr("Firmware CRC: ")) + QVariant(utilMngr->getFirmwareCRC()).toString());
     // DeviceID tells us what sort of HW we have detected:
     // display a nice icon:
     myDevice->devicePicture->scene()->clear();
 
     switch (id) {
     case 0x0101:
-        devicePic.load("");//TODO
-        break;
     case 0x0201:
-        devicePic.load("");//TODO
+        devicePic.load("");
         break;
     case 0x0301:
         devicePic.load(":/uploader/images/gcs-board-oplink.png");
@@ -92,7 +89,8 @@ void runningDeviceWidget::populate()
         devicePic.load(":/uploader/images/gcs-board-revo.png");
         break;
     default:
-        devicePic.load(""); //Clear
+        // Clear
+        devicePic.load("");
         break;
     }
     myDevice->devicePicture->scene()->addPixmap(devicePic);
@@ -119,9 +117,7 @@ void runningDeviceWidget::populate()
         }
         myDevice->lblGitCommitTag->setText("Git commit hash: " + devDesc.gitHash);
         myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.gitDate.insert(4,"-").insert(7,"-"));
-    }
-    else
-    {
+    } else {
         myDevice->lblFWTag->setText(QString("Firmware tag: ") + QString(description).left(QString(description).indexOf(QChar(255))));
         myDevice->lblGitCommitTag->setText("Git commit tag: Unknown");
         myDevice->lblFWDate->setText(QString("Firmware date: Unknown"));
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
index 18b354cce..15a3d5b71 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
@@ -41,11 +41,11 @@
 #include "uavobjectutilmanager.h"
 #include "uploader_global.h"
 
-class UPLOADER_EXPORT runningDeviceWidget : public QWidget
+class UPLOADER_EXPORT RunningDeviceWidget : public QWidget
 {
     Q_OBJECT
 public:
-    runningDeviceWidget( QWidget *parent = 0);
+    RunningDeviceWidget( QWidget *parent = 0);
     void populate();
     void freeze();
     QString setOpenFileName();
@@ -58,7 +58,6 @@ private:
     QPixmap devicePic;
     //void status(QString str, StatusIcon ic);
 
-
 signals:
 
 protected:
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index c09cd556d..1be9aa1ec 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -118,10 +118,10 @@ QString UploaderGadgetWidget::getPortDevice(const QString &friendName)
 
 void UploaderGadgetWidget::connectSignalSlot(QWidget *widget)
 {
-    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadStarted()),this,SLOT(uploadStarted()));
-    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadEnded(bool)),this,SLOT(uploadEnded(bool)));
-    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(downloadStarted()),this,SLOT(downloadStarted()));
-    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(downloadEnded(bool)),this,SLOT(downloadEnded(bool)));
+    connect(qobject_cast<DeviceWidget *>(widget),SIGNAL(uploadStarted()),this,SLOT(uploadStarted()));
+    connect(qobject_cast<DeviceWidget *>(widget),SIGNAL(uploadEnded(bool)),this,SLOT(uploadEnded(bool)));
+    connect(qobject_cast<DeviceWidget *>(widget),SIGNAL(downloadStarted()),this,SLOT(downloadStarted()));
+    connect(qobject_cast<DeviceWidget *>(widget),SIGNAL(downloadEnded(bool)),this,SLOT(downloadEnded(bool)));
 }
 
 FlightStatus *UploaderGadgetWidget::getFlightStatus()
@@ -166,7 +166,7 @@ void UploaderGadgetWidget::populate()
          m_config->systemElements->removeTab(0);
          delete qw;
     }
-    runningDeviceWidget* dw = new runningDeviceWidget(this);
+    RunningDeviceWidget* dw = new RunningDeviceWidget(this);
     dw->populate();
     m_config->systemElements->addTab(dw, QString("Connected Device"));
 }
@@ -332,7 +332,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
              delete qw;
         }
         for(int i=0;i<dfu->numberOfDevices;i++) {
-            deviceWidget* dw = new deviceWidget(this);
+            DeviceWidget* dw = new DeviceWidget(this);
             connectSignalSlot(dw);
             dw->setDeviceID(i);
             dw->setDfu(dfu);
@@ -477,7 +477,7 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
         for (int i=0; i< m_config->systemElements->count(); i++) {
             // OP-682 arriving here too "early" (before the devices are refreshed) was leading to a crash
             // OP-682 the crash was due to an unchecked cast in the line below that would cast a RunningDeviceGadget to a DeviceGadget
-            deviceWidget *qw = dynamic_cast<deviceWidget*>(m_config->systemElements->widget(i));
+            DeviceWidget *qw = dynamic_cast<DeviceWidget*>(m_config->systemElements->widget(i));
             if (qw) {
                 // OP-682 fixed a second crash by disabling *all* buttons in the device widget
                 // disabling the buttons is only half of the solution as even if the buttons are enabled
@@ -729,7 +729,7 @@ void UploaderGadgetWidget::systemRescue()
         return;
     }
     for(int i=0;i<dfu->numberOfDevices;i++) {
-        deviceWidget* dw = new deviceWidget(this);
+        DeviceWidget* dw = new DeviceWidget(this);
         connectSignalSlot(dw);
         dw->setDeviceID(i);
         dw->setDfu(dfu);

From d3ad4d3106f7b21dd4c2e4d6ac865d423b77bfc8 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 00:40:58 +0300
Subject: [PATCH 052/125] OP-719: provide pre-fetch and post-extract options to
 install template

+review OPReview-441
---
 make/tools.mk | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index 1f76c8250..5e8fb906a 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -178,7 +178,8 @@ endif
 #  $(2) = tool install directory
 #  $(3) = tool distribution URL
 #  $(4) = tool distribution file
-#  $(5) = optional configure template
+#  $(5) = optional pre-fetch template
+#  $(6) = optional post-extract template
 #
 ##############################
 
@@ -187,6 +188,8 @@ define TOOL_INSTALL_TEMPLATE
 .PHONY: $(addprefix $(1)_, install clean distclean)
 
 $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
+	$(5)
+
 	@$(ECHO) $(MSG_VERIFYING) $$(call toprel, $(DL_DIR)/$(4))
 	$(V1) ( \
 		cd "$(DL_DIR)" && \
@@ -202,7 +205,7 @@ $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
 	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
 	$(V1) $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(TOOLS_DIR)) -xjf $$(call toprel, $(DL_DIR)/$(4))
 
-	$(5)
+	$(6)
 
 $(1)_clean:
 	@$(ECHO) $(MSG_CLEANING) $$(call toprel, $(2))
@@ -247,7 +250,7 @@ define QT_SDK_CONFIGURE_TEMPLATE
 	$(V1) $(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE) >> $(QT_SDK_DIR)/bin/qt.conf
 endef
 
-$(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),$(QT_SDK_CONFIGURE_TEMPLATE)))
+$(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),,$(QT_SDK_CONFIGURE_TEMPLATE)))
 
 ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
     export QMAKE := $(QT_SDK_DIR)/bin/qmake

From 354924deeddb2a903ebef3e701a129a76540fa9c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 00:41:59 +0300
Subject: [PATCH 053/125] OP-719: suggest to use native Qt 4.8.x package on
 Linux and OSX

+review OPReview-441
---
 make/tools.mk | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/make/tools.mk b/make/tools.mk
index 5e8fb906a..c1d97e741 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -146,6 +146,7 @@ MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
 MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
 MSG_CLEANING         = $(QUOTE) CLEAN      $(QUOTE)
 MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
+MSG_NOTICE           = $(QUOTE) NOTE       $(QUOTE)
 
 # Verbosity level
 ifeq ($(V), 1)
@@ -242,6 +243,10 @@ arm_sdk_version:
 #
 # Qt SDK
 #
+# Windows:  native binary package has been provided
+# Linux:    user should install native Qt SDK package
+# Mac OS X: user should install native Qt SDK package
+#
 ##############################
 
 define QT_SDK_CONFIGURE_TEMPLATE
@@ -250,7 +255,25 @@ define QT_SDK_CONFIGURE_TEMPLATE
 	$(V1) $(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE) >> $(QT_SDK_DIR)/bin/qt.conf
 endef
 
-$(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),,$(QT_SDK_CONFIGURE_TEMPLATE)))
+ifeq ($(UNAME), Windows)
+
+    $(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),,$(QT_SDK_CONFIGURE_TEMPLATE)))
+
+else
+
+.PHONY: qt_sdk_install
+qt_sdk_install:
+	@$(ECHO) $(MSG_NOTICE) --------------------------------------------------------
+	@$(ECHO) $(MSG_NOTICE) Please install native Qt 4.8.x SDK using package manager
+	@$(ECHO) $(MSG_NOTICE) --------------------------------------------------------
+
+.PHONY: qt_sdk_clean
+qt_sdk_clean:
+
+.PHONY: qt_sdk_distclean
+qt_sdk_distclean:
+
+endif
 
 ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
     export QMAKE := $(QT_SDK_DIR)/bin/qmake

From ecad4ec0f36d81e968a088b27b4325108b6795f1 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 16 Apr 2013 11:05:03 +0300
Subject: [PATCH 054/125] gcs: bump minimum Qt version to 4.8 (4.7 is not
 supported anymore)

---
 ground/openpilotgcs/openpilotgcs.pro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/openpilotgcs.pro b/ground/openpilotgcs/openpilotgcs.pro
index 57a5f1ecf..de158d9eb 100644
--- a/ground/openpilotgcs/openpilotgcs.pro
+++ b/ground/openpilotgcs/openpilotgcs.pro
@@ -4,9 +4,9 @@
 #
 
 #version check qt
-contains(QT_VERSION, ^4\\.[0-5]\\..*) {
+contains(QT_VERSION, ^4\\.[0-7]\\..*) {
     message("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}.")
-    error("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}. Use at least Qt 4.6!")
+    error("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}. Use at least Qt 4.8!")
 }
 
 include(openpilotgcs.pri)

From 66b66ee8f4d7e18c1fe9cc39f26a78a1e10dfd62 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Tue, 16 Apr 2013 19:41:13 +0200
Subject: [PATCH 055/125] OP-816 Re-factoring and removal of warnings.

---
 ...evellingutil.cpp => cccalibrationutil.cpp} | 28 +++++----
 .../{levellingutil.h => cccalibrationutil.h}  | 16 ++---
 .../setupwizard/outputcalibrationutil.cpp     |  2 +-
 ...evellingpage.cpp => cccalibrationpage.cpp} | 61 +++++++++----------
 .../{levellingpage.h => cccalibrationpage.h}  | 34 +++++------
 ...{levellingpage.ui => cccalibrationpage.ui} | 16 ++---
 .../pages/outputcalibrationpage.cpp           |  4 ++
 .../src/plugins/setupwizard/setupwizard.cpp   | 16 ++---
 .../src/plugins/setupwizard/setupwizard.h     |  8 +--
 .../src/plugins/setupwizard/setupwizard.pro   | 16 ++---
 .../vehicleconfigurationhelper.cpp            |  4 +-
 .../setupwizard/vehicleconfigurationsource.h  |  4 +-
 12 files changed, 107 insertions(+), 102 deletions(-)
 rename ground/openpilotgcs/src/plugins/setupwizard/{levellingutil.cpp => cccalibrationutil.cpp} (91%)
 rename ground/openpilotgcs/src/plugins/setupwizard/{levellingutil.h => cccalibrationutil.h} (86%)
 rename ground/openpilotgcs/src/plugins/setupwizard/pages/{levellingpage.cpp => cccalibrationpage.cpp} (63%)
 rename ground/openpilotgcs/src/plugins/setupwizard/pages/{levellingpage.h => cccalibrationpage.h} (66%)
 rename ground/openpilotgcs/src/plugins/setupwizard/pages/{levellingpage.ui => cccalibrationpage.ui} (72%)

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp b/ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.cpp
similarity index 91%
rename from ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp
rename to ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.cpp
index 23d422adf..86ffbabca 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.cpp
@@ -1,11 +1,11 @@
 /**
  ******************************************************************************
  *
- * @file       levellingutil.cpp
+ * @file       cccalibrationutil.cpp
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup
  * @{
- * @addtogroup LevellingUtil
+ * @addtogroup CCCalibrationUtil
  * @{
  * @brief
  *****************************************************************************/
@@ -25,7 +25,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "levellingutil.h"
+#include "cccalibrationutil.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "attitudesettings.h"
@@ -33,20 +33,20 @@
 #include "gyros.h"
 
 
-LevellingUtil::LevellingUtil(long measurementCount, long measurementRate) : QObject(),
+CCCalibrationUtil::CCCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
     m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
     m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
 {
 }
 
-LevellingUtil::LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
+CCCalibrationUtil::CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
                              long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
     m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
     m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
 {
 }
 
-void LevellingUtil::start()
+void CCCalibrationUtil::start()
 {
     if(!m_isMeasuring) {
         startMeasurement();
@@ -58,15 +58,16 @@ void LevellingUtil::start()
     }
 }
 
-void LevellingUtil::abort()
+void CCCalibrationUtil::abort()
 {
     if(m_isMeasuring) {
         stopMeasurement();
     }
 }
 
-void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
+void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
 {
+    Q_UNUSED(obj);
     QMutexLocker locker(&m_measurementMutex);
 
     if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
@@ -91,8 +92,9 @@ void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
     }
 }
 
-void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
+void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
 {
+    Q_UNUSED(obj);
     QMutexLocker locker(&m_measurementMutex);
 
     if(m_receivedAccelUpdates < m_accelMeasurementCount) {
@@ -117,7 +119,7 @@ void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
     }
 }
 
-void LevellingUtil::timeout()
+void CCCalibrationUtil::timeout()
 {
     QMutexLocker locker(&m_measurementMutex);
 
@@ -125,7 +127,7 @@ void LevellingUtil::timeout()
     emit timeout(tr("Calibration timed out before receiving required updates."));
 }
 
-void LevellingUtil::startMeasurement()
+void CCCalibrationUtil::startMeasurement()
 {
     QMutexLocker locker(&m_measurementMutex);
 
@@ -174,7 +176,7 @@ void LevellingUtil::startMeasurement()
     uavObject->setMetadata(newMetaData);
 }
 
-void LevellingUtil::stopMeasurement()
+void CCCalibrationUtil::stopMeasurement()
 {
     m_isMeasuring = false;
 
@@ -202,7 +204,7 @@ void LevellingUtil::stopMeasurement()
     AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
 }
 
-accelGyroBias LevellingUtil::calculateLevellingData()
+accelGyroBias CCCalibrationUtil::calculateLevellingData()
 {
     accelGyroBias bias;
     bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/levellingutil.h b/ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.h
similarity index 86%
rename from ground/openpilotgcs/src/plugins/setupwizard/levellingutil.h
rename to ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.h
index c5cbe8709..06947e79c 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/levellingutil.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.h
@@ -1,11 +1,11 @@
 /**
  ******************************************************************************
  *
- * @file       levellingutil.h
+ * @file       cccalibrationutil.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup
  * @{
- * @addtogroup LevellingUtil
+ * @addtogroup CCCalibrationUtil
  * @{
  * @brief
  *****************************************************************************/
@@ -25,8 +25,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef LEVELLINGUTIL_H
-#define LEVELLINGUTIL_H
+#ifndef CCCALIBRATIONUTIL_H
+#define CCCALIBRATIONUTIL_H
 
 #include <QObject>
 #include <QTimer>
@@ -35,12 +35,12 @@
 #include "uavobject.h"
 #include "vehicleconfigurationsource.h"
 
-class LevellingUtil : public QObject
+class CCCalibrationUtil : public QObject
 {
     Q_OBJECT
 public:
-    explicit LevellingUtil(long measurementCount, long measurementRate);
-    explicit LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
+    explicit CCCalibrationUtil(long measurementCount, long measurementRate);
+    explicit CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
                            long gyroMeasurementCount, long gyroMeasurementRate);
 
 signals:
@@ -89,4 +89,4 @@ private:
     accelGyroBias calculateLevellingData();
 };
 
-#endif // LEVELLINGUTIL_H
+#endif // CCCALIBRATIONUTIL_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
index 30144ec42..1e7e48959 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
@@ -46,7 +46,7 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
 
 void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
 {
-    if(m_outputChannel < 0 && channel >= 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
+    if(m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
     {
         //Start output...
         m_outputChannel = channel;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.cpp
similarity index 63%
rename from ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.cpp
rename to ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.cpp
index f8a2cfd25..54f0b7b62 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.cpp
@@ -1,11 +1,11 @@
 /**
  ******************************************************************************
  *
- * @file       levellingpage.cpp
+ * @file       cccalibrationpage.cpp
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup
  * @{
- * @addtogroup LevellingPage
+ * @addtogroup CCCalibrationPage
  * @{
  * @brief
  *****************************************************************************/
@@ -27,38 +27,37 @@
 
 #include <QMessageBox>
 #include <QDebug>
-#include "levellingpage.h"
-#include "ui_levellingpage.h"
+#include "cccalibrationpage.h"
+#include "ui_cccalibrationpage.h"
 #include "setupwizard.h"
 
-LevellingPage::LevellingPage(SetupWizard *wizard, QWidget *parent) :
+CCCalibrationPage::CCCalibrationPage(SetupWizard *wizard, QWidget *parent) :
     AbstractWizardPage(wizard, parent),
-    ui(new Ui::LevellingPage),  m_levellingUtil(0)
+    ui(new Ui::CCCalibrationPage),  m_calibrationUtil(0)
 {
     ui->setupUi(this);
-    connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performLevelling()));
+    connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performCalibration()));
 }
 
-LevellingPage::~LevellingPage()
+CCCalibrationPage::~CCCalibrationPage()
 {
-    if(m_levellingUtil) {
-        delete m_levellingUtil;
+    if(m_calibrationUtil) {
+        delete m_calibrationUtil;
     }
     delete ui;
 }
 
-bool LevellingPage::validatePage()
+bool CCCalibrationPage::validatePage()
 {
     return true;
 }
 
-bool LevellingPage::isComplete() const
+bool CCCalibrationPage::isComplete() const
 {
-    //const_cast<LevellingPage *>(this)->getWizard()->isLevellingPerformed() &&
     return ui->levelButton->isEnabled();
 }
 
-void LevellingPage::enableButtons(bool enable)
+void CCCalibrationPage::enableButtons(bool enable)
 {
     ui->levelButton->setEnabled(enable);
     getWizard()->button(QWizard::NextButton)->setEnabled(enable);
@@ -68,7 +67,7 @@ void LevellingPage::enableButtons(bool enable)
     QApplication::processEvents();
 }
 
-void LevellingPage::performLevelling()
+void CCCalibrationPage::performCalibration()
 {
     if(!getWizard()->getConnectionManager()->isConnected()) {
         QMessageBox msgBox;
@@ -84,19 +83,19 @@ void LevellingPage::performLevelling()
     ui->progressLabel->setText(QString(tr("Retrieving data...")));
 
 
-    if(!m_levellingUtil)
+    if(!m_calibrationUtil)
     {
-        m_levellingUtil = new LevellingUtil(BIAS_CYCLES, BIAS_RATE);
+        m_calibrationUtil = new CCCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
     }
 
-    connect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
-    connect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
-    connect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
+    connect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
+    connect(m_calibrationUtil, SIGNAL(done(accelGyroBias)), this, SLOT(calibrationDone(accelGyroBias)));
+    connect(m_calibrationUtil, SIGNAL(timeout(QString)), this, SLOT(calibrationTimeout(QString)));
 
-    m_levellingUtil->start();
+    m_calibrationUtil->start();
 }
 
-void LevellingPage::levellingProgress(long current, long total)
+void CCCalibrationPage::calibrationProgress(long current, long total)
 {
     if(ui->levellinProgressBar->maximum() != (int)total) {
         ui->levellinProgressBar->setMaximum((int)total);
@@ -106,16 +105,16 @@ void LevellingPage::levellingProgress(long current, long total)
     }
 }
 
-void LevellingPage::levellingDone(accelGyroBias bias)
+void CCCalibrationPage::calibrationDone(accelGyroBias bias)
 {
-    stopLevelling();
+    stopCalibration();
     getWizard()->setLevellingBias(bias);
     emit completeChanged();
 }
 
-void LevellingPage::levellingTimeout(QString message)
+void CCCalibrationPage::calibrationTimeout(QString message)
 {
-    stopLevelling();
+    stopCalibration();
 
     QMessageBox msgBox;
     msgBox.setText(message);
@@ -124,13 +123,13 @@ void LevellingPage::levellingTimeout(QString message)
     msgBox.exec();
 }
 
-void LevellingPage::stopLevelling()
+void CCCalibrationPage::stopCalibration()
 {
-    if(m_levellingUtil)
+    if(m_calibrationUtil)
     {
-        disconnect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
-        disconnect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
-        disconnect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
+        disconnect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
+        disconnect(m_calibrationUtil, SIGNAL(done(accelGyroBias)), this, SLOT(calibrationDone(accelGyroBias)));
+        disconnect(m_calibrationUtil, SIGNAL(timeout(QString)), this, SLOT(calibrationTimeout(QString)));
         ui->progressLabel->setText(QString(tr("<font color='green'>Done!</font>")));
         enableButtons(true);
     }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.h
similarity index 66%
rename from ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.h
rename to ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.h
index 06b18ed75..bee647da7 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.h
@@ -1,11 +1,11 @@
 /**
  ******************************************************************************
  *
- * @file       levellingpage.h
+ * @file       cccalibrationpage.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup
  * @{
- * @addtogroup LevellingPage
+ * @addtogroup CCCalibrationPage
  * @{
  * @brief
  *****************************************************************************/
@@ -25,41 +25,41 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef LEVELLINGPAGE_H
-#define LEVELLINGPAGE_H
+#ifndef CCCALIBRATIONPAGE_H
+#define CCCALIBRATIONPAGE_H
 
 #include "abstractwizardpage.h"
-#include "levellingutil.h"
+#include "cccalibrationutil.h"
 
 namespace Ui {
-class LevellingPage;
+class CCCalibrationPage;
 }
 
-class LevellingPage : public AbstractWizardPage
+class CCCalibrationPage : public AbstractWizardPage
 {
     Q_OBJECT
 
 public:
-    explicit LevellingPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~LevellingPage();
+    explicit CCCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~CCCalibrationPage();
     bool validatePage();
     bool isComplete() const;
 
 private slots:
-    void performLevelling();
-    void levellingProgress(long current, long total);
-    void levellingDone(accelGyroBias bias);
-    void levellingTimeout(QString message);
+    void performCalibration();
+    void calibrationProgress(long current, long total);
+    void calibrationDone(accelGyroBias bias);
+    void calibrationTimeout(QString message);
 
 private:
     static const int BIAS_CYCLES = 200;
     static const int BIAS_RATE = 30;
 
-    Ui::LevellingPage *ui;
-    LevellingUtil *m_levellingUtil;
+    Ui::CCCalibrationPage *ui;
+    CCCalibrationUtil *m_calibrationUtil;
 
-    void stopLevelling();
+    void stopCalibration();
     void enableButtons(bool enable);
 };
 
-#endif // LEVELLINGPAGE_H
+#endif // CCCALIBRATIONPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
similarity index 72%
rename from ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.ui
rename to ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
index c257619ed..f2f8c7403 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>LevellingPage</class>
- <widget class="QWizardPage" name="LevellingPage">
+ <class>CCCalibrationPage</class>
+ <widget class="QWizardPage" name="CCCalibrationPage">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -20,12 +20,12 @@
       <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot controller leveling calibration procedure&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;To perform the leveling, please push the Calculate button and wait for the process to finish. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot controller sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To perform the calibration, please push the Calculate button and wait for the process to finish. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
index 642d2a3ba..70a2a9fc5 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
@@ -330,6 +330,7 @@ void OutputCalibrationPage::debugLogChannelValues()
 
 void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
 {
+    Q_UNUSED(value);
     if(ui->motorNeutralButton->isChecked()) {
         quint16 value = ui->motorNeutralSlider->value();
         m_calibrationUtil->setChannelOutputValue(value);
@@ -348,6 +349,7 @@ void OutputCalibrationPage::on_servoCenterButton_toggled(bool checked)
 
 void OutputCalibrationPage::on_servoCenterSlider_valueChanged(int position)
 {
+    Q_UNUSED(position);
     if(ui->servoCenterButton->isChecked()) {
         quint16 value = ui->servoCenterSlider->value();
         m_calibrationUtil->setChannelOutputValue(value);
@@ -375,6 +377,7 @@ void OutputCalibrationPage::on_servoMinAngleButton_toggled(bool checked)
 
 void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
 {
+    Q_UNUSED(position);
     if(ui->servoMinAngleButton->isChecked()) {
         quint16 value = ui->servoMinAngleSlider->value();
         m_calibrationUtil->setChannelOutputValue(value);
@@ -393,6 +396,7 @@ void OutputCalibrationPage::on_servoMaxAngleButton_toggled(bool checked)
 
 void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
 {
+    Q_UNUSED(position);
     if(ui->servoMaxAngleButton->isChecked()) {
         quint16 value = ui->servoMaxAngleSlider->value();
         m_calibrationUtil->setChannelOutputValue(value);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index e3061f8ad..9ccc6d8ac 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -36,7 +36,7 @@
 #include "pages/surfacepage.h"
 #include "pages/inputpage.h"
 #include "pages/outputpage.h"
-#include "pages/levellingpage.h"
+#include "pages/cccalibrationpage.h"
 #include "pages/summarypage.h"
 #include "pages/savepage.h"
 #include "pages/notyetimplementedpage.h"
@@ -117,12 +117,12 @@ int SetupWizard::nextId() const
             return PAGE_VEHICLES;
         case PAGE_OUTPUT:
             return PAGE_SUMMARY;
-        case PAGE_LEVELLING:
-            return PAGE_CALIBRATION;
-        case PAGE_CALIBRATION:
+        case PAGE_CC_CALIBRATION:
+            return PAGE_OUTPUT_CALIBRATION;
+        case PAGE_OUTPUT_CALIBRATION:
             return PAGE_SAVE;
         case PAGE_SUMMARY:
-            return PAGE_LEVELLING;
+            return PAGE_CC_CALIBRATION;
         case PAGE_SAVE:
             return PAGE_END;
         case PAGE_NOTYETIMPLEMENTED:
@@ -275,8 +275,8 @@ void SetupWizard::createPages()
     setPage(PAGE_SURFACE, new SurfacePage(this));
     setPage(PAGE_INPUT, new InputPage(this));
     setPage(PAGE_OUTPUT, new OutputPage(this));
-    setPage(PAGE_LEVELLING, new LevellingPage(this));
-    setPage(PAGE_CALIBRATION, new OutputCalibrationPage(this));
+    setPage(PAGE_CC_CALIBRATION, new CCCalibrationPage(this));
+    setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
     setPage(PAGE_SUMMARY, new SummaryPage(this));
     setPage(PAGE_SAVE, new SavePage(this));
     setPage(PAGE_REBOOT, new RebootPage(this));
@@ -295,7 +295,7 @@ void SetupWizard::createPages()
 
 void SetupWizard::customBackClicked()
 {
-    if(currentId() == PAGE_CALIBRATION) {
+    if(currentId() == PAGE_OUTPUT_CALIBRATION) {
         static_cast<OutputCalibrationPage*>(currentPage())->customBackClicked();
     }
     else {
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 5fe791522..0f04d085f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -29,7 +29,7 @@
 #define SETUPWIZARD_H
 
 #include <QWizard>
-#include "levellingutil.h"
+#include "cccalibrationutil.h"
 #include <coreplugin/icore.h>
 #include <coreplugin/connectionmanager.h>
 #include "vehicleconfigurationsource.h"
@@ -65,8 +65,8 @@ public:
     SetupWizard::RADIO_SETTING getRadioSetting() const {return m_radioSetting;}
 
     void setLevellingBias(accelGyroBias bias) { m_levellingBias = bias; m_levellingPerformed = true; }
-    bool isLevellingPerformed() const { return m_levellingPerformed; }
-    accelGyroBias getLevellingBias() const { return m_levellingBias; }
+    bool isCalibrationPerformed() const { return m_levellingPerformed; }
+    accelGyroBias getCalibrationBias() const { return m_levellingBias; }
 
     void setActuatorSettings(QList<actuatorChannelSettings> actuatorSettings) { m_actuatorSettings = actuatorSettings; }
     bool isMotorCalibrationPerformed() const { return m_motorCalibrationPerformed; }
@@ -90,7 +90,7 @@ private slots:
     void pageChanged(int currId);
 private:
     enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
-          PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_LEVELLING, PAGE_CALIBRATION,
+          PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION, PAGE_OUTPUT_CALIBRATION,
           PAGE_SAVE, PAGE_SUMMARY, PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
     void createPages();
     bool saveHardwareSettings() const;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
index 2f1754541..215ab0143 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -25,8 +25,6 @@ HEADERS += setupwizardplugin.h \
     pages/outputpage.h \
     pages/inputpage.h \
     pages/summarypage.h \
-    pages/levellingpage.h \
-    levellingutil.h \
     vehicleconfigurationsource.h \
     vehicleconfigurationhelper.h \
     connectiondiagram.h \
@@ -34,7 +32,9 @@ HEADERS += setupwizardplugin.h \
     outputcalibrationutil.h \
     pages/rebootpage.h \
     pages/savepage.h \
-    pages/autoupdatepage.h
+    pages/autoupdatepage.h \
+    pages/cccalibrationpage.h \
+    cccalibrationutil.h
 
 SOURCES += setupwizardplugin.cpp \
     setupwizard.cpp \
@@ -51,8 +51,6 @@ SOURCES += setupwizardplugin.cpp \
     pages/outputpage.cpp \
     pages/inputpage.cpp \
     pages/summarypage.cpp \
-    pages/levellingpage.cpp \
-    levellingutil.cpp \
     vehicleconfigurationsource.cpp \
     vehicleconfigurationhelper.cpp \
     connectiondiagram.cpp \
@@ -60,7 +58,9 @@ SOURCES += setupwizardplugin.cpp \
     outputcalibrationutil.cpp \
     pages/rebootpage.cpp \
     pages/savepage.cpp \
-    pages/autoupdatepage.cpp
+    pages/autoupdatepage.cpp \
+    pages/cccalibrationpage.cpp \
+    cccalibrationutil.cpp
 
 OTHER_FILES += SetupWizard.pluginspec
 
@@ -77,12 +77,12 @@ FORMS += \
     pages/outputpage.ui \
     pages/inputpage.ui \
     pages/summarypage.ui \
-    pages/levellingpage.ui \
     connectiondiagram.ui \
     pages/outputcalibrationpage.ui \
     pages/rebootpage.ui \
     pages/savepage.ui \
-    pages/autoupdatepage.ui
+    pages/autoupdatepage.ui \
+    pages/cccalibrationpage.ui
 
 RESOURCES += \
     wizardResources.qrc
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index 82b09200f..59d7ab7d9 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -332,9 +332,9 @@ void VehicleConfigurationHelper::applyLevellingConfiguration()
     AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
     Q_ASSERT(attitudeSettings);
     AttitudeSettings::DataFields data = attitudeSettings->getData();
-    if(m_configSource->isLevellingPerformed())
+    if(m_configSource->isCalibrationPerformed())
     {
-        accelGyroBias bias = m_configSource->getLevellingBias();
+        accelGyroBias bias = m_configSource->getCalibrationBias();
 
         data.AccelBias[0] += bias.m_accelerometerXBias;
         data.AccelBias[1] += bias.m_accelerometerYBias;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index ebe23a33f..a51dea708 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -77,8 +77,8 @@ public:
     virtual VehicleConfigurationSource::GPS_SETTING getGPSSetting() const = 0;
     virtual VehicleConfigurationSource::RADIO_SETTING getRadioSetting() const = 0;
 
-    virtual bool isLevellingPerformed() const = 0;
-    virtual accelGyroBias getLevellingBias() const = 0;
+    virtual bool isCalibrationPerformed() const = 0;
+    virtual accelGyroBias getCalibrationBias() const = 0;
 
     virtual bool isMotorCalibrationPerformed() const = 0;
     virtual QList<actuatorChannelSettings> getActuatorSettings() const = 0;

From 9a9578a2a39c0602a93e51cfd7fc0e70afa8023d Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Tue, 16 Apr 2013 20:40:25 +0200
Subject: [PATCH 056/125] OP-816 Added page for Revolution calibration
 referring to the configuration plug-in until we get 'our ducks in a row'
 regarding the Revolution calibration procedure.

---
 .../setupwizard/pages/cccalibrationpage.ui    |  2 +-
 .../setupwizard/pages/revocalibrationpage.cpp | 42 ++++++++++++++++
 .../setupwizard/pages/revocalibrationpage.h   | 49 +++++++++++++++++++
 .../setupwizard/pages/revocalibrationpage.ui  | 46 +++++++++++++++++
 .../src/plugins/setupwizard/setupwizard.cpp   | 19 ++++++-
 .../src/plugins/setupwizard/setupwizard.h     | 15 +++---
 .../src/plugins/setupwizard/setupwizard.pro   |  9 ++--
 7 files changed, 169 insertions(+), 13 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.ui

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
index f2f8c7403..00757027f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
@@ -21,7 +21,7 @@
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot controller sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot CopterControl sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.cpp
new file mode 100644
index 000000000..8050a200f
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.cpp
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       revocalibrationpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup RevoCalibrationPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "revocalibrationpage.h"
+#include "ui_revocalibrationpage.h"
+
+RevoCalibrationPage::RevoCalibrationPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::RevoCalibrationPage)
+{
+    ui->setupUi(this);
+    setFinalPage(true);
+}
+
+RevoCalibrationPage::~RevoCalibrationPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.h
new file mode 100644
index 000000000..9939d59ea
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       revocalibrationpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup RevoCalibrationPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef REVOCALIBRATIONPAGE_H
+#define REVOCALIBRATIONPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class RevoCalibrationPage;
+}
+
+class RevoCalibrationPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit RevoCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~RevoCalibrationPage();
+    
+private:
+    Ui::RevoCalibrationPage *ui;
+};
+
+#endif // REVOCALIBRATIONPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.ui
new file mode 100644
index 000000000..c68a19a84
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.ui
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RevoCalibrationPage</class>
+ <widget class="QWizardPage" name="RevoCalibrationPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>582</width>
+     <height>150</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot Revolution controller sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The calibration procedure for the OpenPilot Revolution controller is not yet implemented in this setup wizard. To calibrate your OpenPilot Revolution controller please use the calibration utility found in the configuration plugin after you have finished this wizard.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Future versions of will have an easy to use calibration procedure implemented.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index 9ccc6d8ac..d1d747dae 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -42,6 +42,7 @@
 #include "pages/notyetimplementedpage.h"
 #include "pages/rebootpage.h"
 #include "pages/outputcalibrationpage.h"
+#include "pages/revocalibrationpage.h"
 #include "extensionsystem/pluginmanager.h"
 #include "vehicleconfigurationhelper.h"
 #include "actuatorsettings.h"
@@ -51,7 +52,7 @@
 SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent), VehicleConfigurationSource(),
     m_controllerType(CONTROLLER_UNKNOWN),
     m_vehicleType(VEHICLE_UNKNOWN), m_inputType(INPUT_UNKNOWN), m_escType(ESC_UNKNOWN),
-    m_levellingPerformed(false), m_restartNeeded(false), m_connectionManager(0)
+    m_calibrationPerformed(false), m_restartNeeded(false), m_connectionManager(0)
 {
     setWindowTitle(tr("OpenPilot Setup Wizard"));
     setOption(QWizard::IndependentPages, false);
@@ -119,10 +120,23 @@ int SetupWizard::nextId() const
             return PAGE_SUMMARY;
         case PAGE_CC_CALIBRATION:
             return PAGE_OUTPUT_CALIBRATION;
+        case PAGE_REVO_CALIBRATION:
+            return PAGE_OUTPUT_CALIBRATION;
         case PAGE_OUTPUT_CALIBRATION:
             return PAGE_SAVE;
         case PAGE_SUMMARY:
-            return PAGE_CC_CALIBRATION;
+        {
+            switch(getControllerType())
+            {
+                case CONTROLLER_CC:
+                case CONTROLLER_CC3D:
+                    return PAGE_CC_CALIBRATION;
+                case CONTROLLER_REVO:
+                    return PAGE_REVO_CALIBRATION;
+                default:
+                    return PAGE_NOTYETIMPLEMENTED;
+            }
+        }
         case PAGE_SAVE:
             return PAGE_END;
         case PAGE_NOTYETIMPLEMENTED:
@@ -276,6 +290,7 @@ void SetupWizard::createPages()
     setPage(PAGE_INPUT, new InputPage(this));
     setPage(PAGE_OUTPUT, new OutputPage(this));
     setPage(PAGE_CC_CALIBRATION, new CCCalibrationPage(this));
+    setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
     setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
     setPage(PAGE_SUMMARY, new SummaryPage(this));
     setPage(PAGE_SAVE, new SavePage(this));
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 0f04d085f..262cc844b 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -64,9 +64,9 @@ public:
     void setRadioSetting(SetupWizard::RADIO_SETTING setting) { m_radioSetting = setting; }
     SetupWizard::RADIO_SETTING getRadioSetting() const {return m_radioSetting;}
 
-    void setLevellingBias(accelGyroBias bias) { m_levellingBias = bias; m_levellingPerformed = true; }
-    bool isCalibrationPerformed() const { return m_levellingPerformed; }
-    accelGyroBias getCalibrationBias() const { return m_levellingBias; }
+    void setLevellingBias(accelGyroBias bias) { m_calibrationBias = bias; m_calibrationPerformed = true; }
+    bool isCalibrationPerformed() const { return m_calibrationPerformed; }
+    accelGyroBias getCalibrationBias() const { return m_calibrationBias; }
 
     void setActuatorSettings(QList<actuatorChannelSettings> actuatorSettings) { m_actuatorSettings = actuatorSettings; }
     bool isMotorCalibrationPerformed() const { return m_motorCalibrationPerformed; }
@@ -90,8 +90,9 @@ private slots:
     void pageChanged(int currId);
 private:
     enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
-          PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION, PAGE_OUTPUT_CALIBRATION,
-          PAGE_SAVE, PAGE_SUMMARY, PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
+          PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION,
+          PAGE_REVO_CALIBRATION, PAGE_OUTPUT_CALIBRATION, PAGE_SAVE, PAGE_SUMMARY,
+          PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
     void createPages();
     bool saveHardwareSettings() const;
     bool canAutoUpdate() const;
@@ -105,8 +106,8 @@ private:
     GPS_SETTING m_gpsSetting;
     RADIO_SETTING m_radioSetting;
 
-    bool m_levellingPerformed;
-    accelGyroBias m_levellingBias;
+    bool m_calibrationPerformed;
+    accelGyroBias m_calibrationBias;
 
     bool m_motorCalibrationPerformed;
     QList<actuatorChannelSettings> m_actuatorSettings;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
index 215ab0143..5e250a5d5 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -34,7 +34,8 @@ HEADERS += setupwizardplugin.h \
     pages/savepage.h \
     pages/autoupdatepage.h \
     pages/cccalibrationpage.h \
-    cccalibrationutil.h
+    cccalibrationutil.h \
+    pages/revocalibrationpage.h
 
 SOURCES += setupwizardplugin.cpp \
     setupwizard.cpp \
@@ -60,7 +61,8 @@ SOURCES += setupwizardplugin.cpp \
     pages/savepage.cpp \
     pages/autoupdatepage.cpp \
     pages/cccalibrationpage.cpp \
-    cccalibrationutil.cpp
+    cccalibrationutil.cpp \
+    pages/revocalibrationpage.cpp
 
 OTHER_FILES += SetupWizard.pluginspec
 
@@ -82,7 +84,8 @@ FORMS += \
     pages/rebootpage.ui \
     pages/savepage.ui \
     pages/autoupdatepage.ui \
-    pages/cccalibrationpage.ui
+    pages/cccalibrationpage.ui \
+    pages/revocalibrationpage.ui
 
 RESOURCES += \
     wizardResources.qrc

From 59f8a99ab7180a5e356a2d4a9db99d4aad135a87 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 16 Apr 2013 21:26:36 +0200
Subject: [PATCH 057/125] make: warn users about old ARM toolchain instead of
 cryptic 'no such file' error

---
 Makefile      | 2 ++
 make/tools.mk | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/Makefile b/Makefile
index ebf45b515..f0e7e9720 100644
--- a/Makefile
+++ b/Makefile
@@ -267,6 +267,7 @@ $(1): fw_$(1)_opfw
 fw_$(1): fw_$(1)_opfw
 
 fw_$(1)_%: uavobjects_flight
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
 	$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
 		$$(MAKE) -r --no-print-directory \
@@ -294,6 +295,7 @@ bl_$(1): bl_$(1)_bin
 bl_$(1)_bino: bl_$(1)_bin
 
 bl_$(1)_%:
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
 	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
 		$$(MAKE) -r --no-print-directory \
diff --git a/make/tools.mk b/make/tools.mk
index c1d97e741..a483531a8 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -239,6 +239,15 @@ endif
 arm_sdk_version:
 	$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
 
+# Template to check ARM toolchain version before building targets
+define ARM_GCC_VERSION_CHECK_TEMPLATE
+	if ! $(ARM_SDK_PREFIX)gcc --version --specs=nano.specs >/dev/null 2>&1; then \
+		$(ECHO) $(MSG_NOTICE) Please install ARM toolchain 4.7+ using \'make arm_sdk_install\' && \
+		$(ECHO) $(MSG_NOTICE) Older ARM SDKs do not support new \'--specs=nano.specs\' option && \
+		exit 1; \
+	fi
+endef
+
 ##############################
 #
 # Qt SDK

From 61bb82ca153aa4a6f6704dad7f0d6fcb1af08a30 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 17 Apr 2013 19:08:02 +0200
Subject: [PATCH 058/125] gcs: find python in tools building with Qt-Creator

This fix uses the same approach as OpenPilot toolchain system,
but for build started from Qt-Creator.
---
 .../openpilotgcs/src/app/gcsversioninfo.pri   | 26 +++++++++++++++++--
 make/tools.mk                                 |  1 +
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/app/gcsversioninfo.pri b/ground/openpilotgcs/src/app/gcsversioninfo.pri
index 0dbf3e19e..42a695695 100644
--- a/ground/openpilotgcs/src/app/gcsversioninfo.pri
+++ b/ground/openpilotgcs/src/app/gcsversioninfo.pri
@@ -5,14 +5,36 @@
 # the other dependencies evaluation.
 #
 
+# We use python to extract git version info, but it may be installed locally.
+# This expected python version should be kept in sync with make/tools.mk.
+PYTHON_DIR = python-2.7.4
+
 # Since debug_and_release option is set, we need this
 !debug_and_release|build_pass {
-    ROOT_DIR              = $$GCS_SOURCE_TREE/../..
+
+    ROOT_DIR = $$GCS_SOURCE_TREE/../..
+
+    # Search the python using environment override first
+    OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
+    !isEmpty(OPENPILOT_TOOLS_DIR):exists($$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python*) {
+        PYTHON = $$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python
+    } else {
+        # If not found, search the predefined tools path
+        exists($$ROOT_DIR/tools/$$PYTHON_DIR/python*) {
+            PYTHON = $$ROOT_DIR/tools/$$PYTHON_DIR/python
+        } else {
+            # not found, hope it's in the path...
+            PYTHON = python
+        }
+    }
+    message(Using python interpreter: $$PYTHON)
+
+    # Define other variables
     VERSION_INFO_DIR      = $$GCS_BUILD_TREE/../openpilotgcs-synthetics
     VERSION_INFO_HEADER   = $$VERSION_INFO_DIR/gcs_version_info.h
     VERSION_INFO_SCRIPT   = $$ROOT_DIR/make/scripts/version-info.py
     VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcs_version_info_template.h
-    VERSION_INFO_COMMAND  = python \"$$VERSION_INFO_SCRIPT\"
+    VERSION_INFO_COMMAND  = $$PYTHON \"$$VERSION_INFO_SCRIPT\"
     UAVO_DEF_PATH         = $$ROOT_DIR/shared/uavobjectdefinition
 
     # Create custom version_info target which generates a header
diff --git a/make/tools.mk b/make/tools.mk
index a483531a8..ccf59a4c2 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -68,6 +68,7 @@ else ifeq ($(UNAME), Windows)
     PYTHON_URL  := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
 endif
 
+# Changing PYTHON_DIR, also update it in ground\openpilotgcs\src\app\gcsversioninfo.pri
 ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
 QT_SDK_DIR      := $(TOOLS_DIR)/qt-4.8.4
 MINGW_DIR       := $(TOOLS_DIR)/mingw-4.4.0

From 6214d0d4711cea12e04156000d2e21b4c9dea957 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 17 Apr 2013 19:22:56 +0200
Subject: [PATCH 059/125] OP-911: First part of the rework: Fixed non isr call
 for claimbus, changed delays at startup to resolve a intermittent failure at
 MPU6000 initialization on reboot.

+review OPReview
---
 flight/PiOS/Common/pios_mpu6000.c | 33 +++++++++++++++++--------------
 flight/PiOS/STM32F4xx/pios_spi.c  |  2 +-
 2 files changed, 19 insertions(+), 16 deletions(-)

diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c
index 7820efe62..675b5e600 100644
--- a/flight/PiOS/Common/pios_mpu6000.c
+++ b/flight/PiOS/Common/pios_mpu6000.c
@@ -141,7 +141,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 
 	// Reset chip
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
-	PIOS_DELAY_WaitmS(100);
+	PIOS_DELAY_WaitmS(50);
 
 	// Reset chip and fifo
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
@@ -154,7 +154,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 		(PIOS_MPU6000_USERCTL_GYRO_RST |
 		PIOS_MPU6000_USERCTL_SIG_COND |
 		PIOS_MPU6000_USERCTL_FIFO_RST));
-
+	PIOS_DELAY_WaitmS(10);
 	//Power management configuration
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0);
 
@@ -228,14 +228,17 @@ int32_t PIOS_MPU6000_ConfigureRanges(
  * @brief Claim the SPI bus for the accel communications and select this chip
  * @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
  */
-int32_t PIOS_MPU6000_ClaimBus()
+static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
 {
 	if(PIOS_MPU6000_Validate(dev) != 0)
 		return -1;
-	
-	if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
-		return -2;
-	
+	if(fromIsr){
+        if(PIOS_SPI_ClaimBusISR(dev->spi_id) != 0)
+            return -2;
+	} else {
+        if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
+            return -2;
+	}
 	PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
 	return 0;
 }
@@ -263,7 +266,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
 {
 	uint8_t data;
 	
-	if(PIOS_MPU6000_ClaimBus() != 0)
+	if(PIOS_MPU6000_ClaimBus(false) != 0)
 		return -1;	
 	
 	PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
@@ -283,7 +286,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
  */
 static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
 {
-	if(PIOS_MPU6000_ClaimBus() != 0)
+	if(PIOS_MPU6000_ClaimBus(false) != 0)
 		return -1;
 	
 	if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
@@ -312,7 +315,7 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
 	uint8_t buf[7] = {PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0};
 	uint8_t rec[7];
 	
-	if(PIOS_MPU6000_ClaimBus() != 0)
+	if(PIOS_MPU6000_ClaimBus(false) != 0)
 		return -1;
 
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
@@ -405,12 +408,12 @@ int32_t PIOS_MPU6000_Test(void)
  * \return 0 if test succeeded
  * \return non-zero value if test succeeded
  */
-static int32_t PIOS_MPU6000_FifoDepth(void)
+static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
 {
 	uint8_t mpu6000_send_buf[3] = {PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0};
 	uint8_t mpu6000_rec_buf[3];
 
-	if(PIOS_MPU6000_ClaimBus() != 0)
+	if(PIOS_MPU6000_ClaimBus(fromIsr) != 0)
 		return -1;
 
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
@@ -446,11 +449,11 @@ bool PIOS_MPU6000_IRQHandler(void)
 	if (!mpu6000_configured)
 		return false;
 
-	mpu6000_count = PIOS_MPU6000_FifoDepth();
+	mpu6000_count = PIOS_MPU6000_FifoDepth(true);
 	if (mpu6000_count < sizeof(struct pios_mpu6000_data))
 		return false;
 
-	if (PIOS_MPU6000_ClaimBus() != 0)
+	if (PIOS_MPU6000_ClaimBus(true) != 0)
 		return false;
 
 	uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -469,7 +472,7 @@ bool PIOS_MPU6000_IRQHandler(void)
 	// In the case where extras samples backed up grabbed an extra
 	if (mpu6000_count >= (sizeof(data) * 2)) {
 		mpu6000_fifo_backup++;
-		if (PIOS_MPU6000_ClaimBus() != 0)
+		if (PIOS_MPU6000_ClaimBus(true) != 0)
 			return false;
 
 		if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
diff --git a/flight/PiOS/STM32F4xx/pios_spi.c b/flight/PiOS/STM32F4xx/pios_spi.c
index 2bd07284a..8108e4eed 100644
--- a/flight/PiOS/STM32F4xx/pios_spi.c
+++ b/flight/PiOS/STM32F4xx/pios_spi.c
@@ -275,7 +275,7 @@ int32_t PIOS_SPI_ClaimBusISR(uint32_t spi_id)
 	bool valid = PIOS_SPI_validate(spi_dev);
 	PIOS_Assert(valid)
 	
-	if (xQueueGenericReceive(( xQueueHandle ) spi_dev->busy, NULL, 0x0000 , pdFALSE ) != pdTRUE)
+	if (xSemaphoreTakeFromISR(( xQueueHandle ) spi_dev->busy, NULL) != pdTRUE)
 		return -1;
 #endif
 	return 0;

From 66b1d285d509b61a51eb817f040fdf31c6a86567 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 17 Apr 2013 22:41:53 +0200
Subject: [PATCH 060/125] OP-911: Fixed SPI_ClaimbusISR for F1

+review OPReview-447
---
 flight/PiOS/STM32F10x/pios_spi.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c
index 320f6385d..41cc47bf1 100644
--- a/flight/PiOS/STM32F10x/pios_spi.c
+++ b/flight/PiOS/STM32F10x/pios_spi.c
@@ -276,8 +276,9 @@ int32_t PIOS_SPI_ClaimBusISR(uint32_t spi_id)
 	bool valid = PIOS_SPI_validate(spi_dev);
 	PIOS_Assert(valid)
 	
-	if (xQueueGenericReceive(( xQueueHandle ) spi_dev->busy, NULL, 0x0000 , pdFALSE ) != pdTRUE)
+	if (xSemaphoreTakeFromISR(( xQueueHandle ) spi_dev->busy, NULL) != pdTRUE){
 		return -1;
+	}
 #endif
 	return 0;
 }

From ae62517600be78ae09f4ac066c2bcff1e5f65bb6 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 17 Apr 2013 23:40:49 +0200
Subject: [PATCH 061/125] OP-911: Added SPI_ReleaseBusISR counterpart

+review OPReview-447
---
 flight/PiOS/STM32F10x/pios_spi.c | 27 ++++++++++++++++++++++++++-
 flight/PiOS/STM32F4xx/pios_spi.c | 23 +++++++++++++++++++++--
 flight/PiOS/inc/pios_spi.h       |  1 +
 3 files changed, 48 insertions(+), 3 deletions(-)

diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c
index 41cc47bf1..fcb46ee9a 100644
--- a/flight/PiOS/STM32F10x/pios_spi.c
+++ b/flight/PiOS/STM32F10x/pios_spi.c
@@ -276,7 +276,7 @@ int32_t PIOS_SPI_ClaimBusISR(uint32_t spi_id)
 	bool valid = PIOS_SPI_validate(spi_dev);
 	PIOS_Assert(valid)
 	
-	if (xSemaphoreTakeFromISR(( xQueueHandle ) spi_dev->busy, NULL) != pdTRUE){
+	if (xSemaphoreTakeFromISR(spi_dev->busy, NULL) != pdTRUE){
 		return -1;
 	}
 #endif
@@ -307,6 +307,31 @@ int32_t PIOS_SPI_ReleaseBus(uint32_t spi_id)
 	return 0;
 }
 
+/**
+ * Release the SPI bus semaphore from ISR.  Calling the SPI functions does not require this
+ * \param[in] spi SPI number (0 or 1)
+ * \return 0 if no error
+ */
+int32_t PIOS_SPI_ReleaseBusISR(uint32_t spi_id)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+    struct pios_spi_dev * spi_dev = (struct pios_spi_dev *)spi_id;
+
+    bool valid = PIOS_SPI_validate(spi_dev);
+    PIOS_Assert(valid)
+
+    xSemaphoreGiveFromISR(spi_dev->busy, NULL);
+#else
+    struct pios_spi_dev * spi_dev = (struct pios_spi_dev *)spi_id;
+    PIOS_IRQ_Disable();
+    spi_dev->busy = 0;
+    PIOS_IRQ_Enable();
+
+#endif
+    return 0;
+}
+
+
 /**
  * Controls the RC (Register Clock alias Chip Select) pin of a SPI port
  * \param[in] spi SPI number (0 or 1)
diff --git a/flight/PiOS/STM32F4xx/pios_spi.c b/flight/PiOS/STM32F4xx/pios_spi.c
index 8108e4eed..bf82a9951 100644
--- a/flight/PiOS/STM32F4xx/pios_spi.c
+++ b/flight/PiOS/STM32F4xx/pios_spi.c
@@ -53,7 +53,7 @@ static bool PIOS_SPI_validate(struct pios_spi_dev * com_dev)
 #if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_spi_dev * PIOS_SPI_alloc(void)
 {
-	return (malloc(sizeof(struct pios_spi_dev)));
+	return (pvPortMalloc(sizeof(struct pios_spi_dev)));
 }
 #else
 static struct pios_spi_dev pios_spi_devs[PIOS_SPI_MAX_DEVS];
@@ -275,8 +275,9 @@ int32_t PIOS_SPI_ClaimBusISR(uint32_t spi_id)
 	bool valid = PIOS_SPI_validate(spi_dev);
 	PIOS_Assert(valid)
 	
-	if (xSemaphoreTakeFromISR(( xQueueHandle ) spi_dev->busy, NULL) != pdTRUE)
+	if (xSemaphoreTakeFromISR(spi_dev->busy, NULL) != pdTRUE){
 		return -1;
+	}
 #endif
 	return 0;
 }
@@ -300,6 +301,24 @@ int32_t PIOS_SPI_ReleaseBus(uint32_t spi_id)
 	return 0;
 }
 
+/**
+ * Release the SPI bus semaphore from ISR.  Calling the SPI functions does not require this
+ * \param[in] spi SPI number (0 or 1)
+ * \return 0 if no error
+ */
+int32_t PIOS_SPI_ReleaseBusISR(uint32_t spi_id)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+    struct pios_spi_dev * spi_dev = (struct pios_spi_dev *)spi_id;
+
+    bool valid = PIOS_SPI_validate(spi_dev);
+    PIOS_Assert(valid)
+
+    xSemaphoreGiveFromISR(spi_dev->busy, NULL);
+#endif
+    return 0;
+}
+
 /**
 * Controls the RC (Register Clock alias Chip Select) pin of a SPI port
 * \param[in] spi SPI number (0 or 1)
diff --git a/flight/PiOS/inc/pios_spi.h b/flight/PiOS/inc/pios_spi.h
index 2abbf9c20..951459b94 100644
--- a/flight/PiOS/inc/pios_spi.h
+++ b/flight/PiOS/inc/pios_spi.h
@@ -51,6 +51,7 @@ extern int32_t PIOS_SPI_Busy(uint32_t spi_id);
 extern int32_t PIOS_SPI_ClaimBus(uint32_t spi_id);
 extern int32_t PIOS_SPI_ClaimBusISR(uint32_t spi_id);
 extern int32_t PIOS_SPI_ReleaseBus(uint32_t spi_id);
+extern int32_t PIOS_SPI_ReleaseBusISR(uint32_t spi_id);
 extern void    PIOS_SPI_IRQ_Handler(uint32_t spi_id);
 extern void    PIOS_SPI_SetPrescalar(uint32_t spi_id, uint32_t prescalar);
 

From a8257723898d147384b59e5da8d5a7f060028a8f Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 17 Apr 2013 23:41:25 +0200
Subject: [PATCH 062/125] OP-911: Use SPI_ReleaseBusISR within isr, changed a
 malloc with pvPortMalloc for coherence with the rest of PiOS

+review OPReview-44
---
 flight/PiOS/Common/pios_mpu6000.c | 40 ++++++++++++++++++-------------
 1 file changed, 23 insertions(+), 17 deletions(-)

diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c
index 675b5e600..c90ac43d4 100644
--- a/flight/PiOS/Common/pios_mpu6000.c
+++ b/flight/PiOS/Common/pios_mpu6000.c
@@ -227,6 +227,7 @@ int32_t PIOS_MPU6000_ConfigureRanges(
 /**
  * @brief Claim the SPI bus for the accel communications and select this chip
  * @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
+ * @param fromIsr[in] Tells if the function is being called from a ISR or not
  */
 static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
 {
@@ -246,15 +247,19 @@ static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
 /**
  * @brief Release the SPI bus for the accel communications and end the transaction
  * @return 0 if successful
+ * @param fromIsr[in] Tells if the function is being called from a ISR or not
  */
-int32_t PIOS_MPU6000_ReleaseBus()
+int32_t PIOS_MPU6000_ReleaseBus(bool fromIsr)
 {
 	if(PIOS_MPU6000_Validate(dev) != 0)
 		return -1;
 	
 	PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
-	
-	return PIOS_SPI_ReleaseBus(dev->spi_id);
+	if(fromIsr){
+	    return PIOS_SPI_ReleaseBusISR(dev->spi_id);
+	} else {
+	    return PIOS_SPI_ReleaseBus(dev->spi_id);
+	}
 }
 
 /**
@@ -272,7 +277,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
 	PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
 	data = PIOS_SPI_TransferByte(dev->spi_id,0 );     // receive response
 	
-	PIOS_MPU6000_ReleaseBus();
+	PIOS_MPU6000_ReleaseBus(false);
 	return data;
 }
 
@@ -290,16 +295,16 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
 		return -1;
 	
 	if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
-		PIOS_MPU6000_ReleaseBus();
+		PIOS_MPU6000_ReleaseBus(false);
 		return -2;
 	}
 	
 	if(PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
-		PIOS_MPU6000_ReleaseBus();
+		PIOS_MPU6000_ReleaseBus(false);
 		return -3;
 	}
 	
-	PIOS_MPU6000_ReleaseBus();
+	PIOS_MPU6000_ReleaseBus(false);
 	
 	return 0;
 }
@@ -321,7 +326,7 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
 		return -2;
 		
-	PIOS_MPU6000_ReleaseBus();
+	PIOS_MPU6000_ReleaseBus(false);
 	
 	data->gyro_x = rec[1] << 8 | rec[2];
 	data->gyro_y = rec[3] << 8 | rec[4];
@@ -407,6 +412,7 @@ int32_t PIOS_MPU6000_Test(void)
  * @brief Run self-test operation.
  * \return 0 if test succeeded
  * \return non-zero value if test succeeded
+ * @param fromIsr[in] Tells if the function is being called from a ISR or not
  */
 static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
 {
@@ -417,11 +423,11 @@ static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
 		return -1;
 
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
-		PIOS_MPU6000_ReleaseBus();
+		PIOS_MPU6000_ReleaseBus(fromIsr);
 		return -1;
 	}
 
-	PIOS_MPU6000_ReleaseBus();
+	PIOS_MPU6000_ReleaseBus(fromIsr);
 	
 	return (mpu6000_rec_buf[1] << 8) | mpu6000_rec_buf[2];
 }
@@ -456,18 +462,18 @@ bool PIOS_MPU6000_IRQHandler(void)
 	if (PIOS_MPU6000_ClaimBus(true) != 0)
 		return false;
 
-	uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
-	uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
+	static uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
+	static uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
 
 	if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
-		PIOS_MPU6000_ReleaseBus();
+		PIOS_MPU6000_ReleaseBus(true);
 		mpu6000_fails++;
 		return false;
 	}
 
-	PIOS_MPU6000_ReleaseBus();
+	PIOS_MPU6000_ReleaseBus(true);
 
-	struct pios_mpu6000_data data;
+	static struct pios_mpu6000_data data;
 
 	// In the case where extras samples backed up grabbed an extra
 	if (mpu6000_count >= (sizeof(data) * 2)) {
@@ -476,12 +482,12 @@ bool PIOS_MPU6000_IRQHandler(void)
 			return false;
 
 		if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
-			PIOS_MPU6000_ReleaseBus();
+			PIOS_MPU6000_ReleaseBus(true);
 			mpu6000_fails++;
 			return false;
 		}
 
-		PIOS_MPU6000_ReleaseBus();
+		PIOS_MPU6000_ReleaseBus(true);
 	}
 
 	// Rotate the sensor to OP convention.  The datasheet defines X as towards the right

From 4077dfde56f8693291b419045d6172f18b19cb96 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 18 Apr 2013 00:47:14 +0200
Subject: [PATCH 063/125] OP-874 Added visual (heartbeat led flashing)
 indication of flash format being performed.

+review OPReview-421
---
 flight/PiOS/Common/pios_flashfs_logfs.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/flight/PiOS/Common/pios_flashfs_logfs.c b/flight/PiOS/Common/pios_flashfs_logfs.c
index 0873e5987..4fdef16db 100644
--- a/flight/PiOS/Common/pios_flashfs_logfs.c
+++ b/flight/PiOS/Common/pios_flashfs_logfs.c
@@ -193,6 +193,7 @@ static int32_t logfs_erase_all_arenas()
 	uint16_t num_arenas = logfs.cfg->total_fs_size / logfs.cfg->arena_size;
 
 	for (uint16_t arena = 0; arena < num_arenas; arena++) {
+	    PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 		if (logfs_erase_arena(arena) != 0)
 			return -1;
 	}

From 208e97f476f70a6069ef7c811f7cca62bfa759fd Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Thu, 18 Apr 2013 01:28:11 +0200
Subject: [PATCH 064/125] OP-769 cleaned up handling of options in main + other
 cleanups

---
 ground/openpilotgcs/src/app/main.cpp | 250 +++++++++++++++------------
 1 file changed, 142 insertions(+), 108 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index 84c25f522..4db9e429a 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -35,21 +35,46 @@
 
  Both General/Locale and General/OverrideLanguage can be set from the command line or through the the factory defaults file.
 
-
-
+ The -D option is used to permanently set a user setting.
 
  The -reset switch will clear all the user settings and will trigger a reload of the factory defaults.
 
  You can combine it with the -configfile=<file> command line argument to quickly switch between multiple settings files.
 
  [code]
- openpilotgcs -reset -configfile=./MyOpenPilotGCS.xml
+ openpilotgcs -reset -config-file ./MyOpenPilotGCS.xml
  [/code]
 
+ Relative paths are relative to <install dir>/share/openpilotgcs/default_configurations/
+
  The specified file will be used to load the factory defaults from but only when the user settings are empty.
  If the user settings are not empty the file will not be used.
  This switch is useful on the 1st run when the user settings are empty or in combination with -reset.
 
+
+ Quickly switch configurations
+
+ [code]
+ -reset -config-file <relative or absolute path>
+ [/code]
+
+ Configuring GCS from installer
+
+ The -D option is used to permanently set a user setting.
+
+ If the user chooses to start GCS at the end of the installer:
+
+ [code]
+ -D General/OverrideLanguage=de
+ [/code]
+
+ If the user chooses not to start GCS at the end of the installer, you still need to configure GCS.
+ In that case you can use -exit-after-config
+
+ [code]
+ -D General/OverrideLanguage=de -exit-after-config
+ [/code]
+
  */
 
 #include "qtsingleapplication.h"
@@ -81,47 +106,49 @@ namespace {
 
     typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
     typedef QMap<QString, bool> AppOptions;
-    typedef QMap<QString, QString> FoundAppOptions;
+    typedef QMap<QString, QString> AppOptionValues;
 
     enum {
         OptionIndent = 4, DescriptionIndent = 24
     };
 
-    const char *appNameC = "OpenPilot GCS";
+    const QLatin1String APP_NAME("OpenPilot GCS");
 
-    const char *corePluginNameC = "Core";
+    const QLatin1String CORE_PLUGIN_NAME("Core");
+
+    const QLatin1String SETTINGS_ORG_NAME("OpenPilot");
+    const QLatin1String SETTINGS_APP_NAME("OpenPilotGCS_config");
 
 #ifdef Q_OS_MAC
-    const char *SHARE_PATH = "/../Resources";
+    const QLatin1String SHARE_PATH("/../Resources");
 #else
-    const char *SHARE_PATH = "/../share/openpilotgcs";
+    const QLatin1String SHARE_PATH("/../share/openpilotgcs");
 #endif
 
     const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
-    const char *fixedOptionsC =
-        " [OPTION]... [FILE]...\n"
-        "Options:\n"
-        "    -help               Display this help\n"
-        "    -version            Display program version\n"
-        "    -no-splash          Don't display splash screen\n"
-        "    -client             Attempt to connect to already running instance\n"
-        "    -clean-config       Delete all existing configuration settings\n"
-        "    -exit-after-config  Exit GCS after manipulating configuration settings\n"
-        "    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
-        "    -reset              Reset user settings to factory defaults.\n";
+    const char *fixedOptionsC = " [OPTION]... [FILE]...\n"
+            "Options:\n"
+            "    -help               Display this help\n"
+            "    -version            Display application version\n"
+            "    -no-splash          Don't display splash screen\n"
+            "    -client             Attempt to connect to already running instance\n"
+            "    -D <key>=<value>    Permanently set a user setting, e.g: -D General/OverrideLanguage=de\n"
+            "    -reset              Reset user settings to factory defaults.\n"
+            "    -config-file <file> Specify alternate factory defaults settings file (used with -reset)\n"
+            "    -exit-after-config  Exit after manipulating configuration settings\n";
 
-    const QLatin1String HELP_OPTION1("-h");
-    const QLatin1String HELP_OPTION2("-help");
-    const QLatin1String HELP_OPTION3("/h");
-    const QLatin1String HELP_OPTION4("--help");
+    const QLatin1String HELP1_OPTION("-h");
+    const QLatin1String HELP2_OPTION("-help");
+    const QLatin1String HELP3_OPTION("/h");
+    const QLatin1String HELP4_OPTION("--help");
     const QLatin1String VERSION_OPTION("-version");
+    const QLatin1String NO_SPLASH_OPTION("-no-splash");
     const QLatin1String CLIENT_OPTION("-client");
     const QLatin1String CONFIG_OPTION("-D");
-    const QLatin1String CLEAN_CONFIG_OPTION("-clean-config");
+    const QLatin1String RESET_OPTION("-reset");
+    const QLatin1String CONFIG_FILE_OPTION("-config-file");
     const QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
-    const QLatin1String RESET("-reset");
-    const QLatin1String NO_SPLASH("-no-splash");
 
     // Helpers for displaying messages. Note that there is no console on Windows.
 #ifdef Q_OS_WIN
@@ -139,12 +166,12 @@ namespace {
     void displayHelpText(QString t) // No console on Windows.
     {
         toHtml(t);
-        QMessageBox::information(0, QLatin1String(appNameC), t);
+        QMessageBox::information(0, APP_NAME, t);
     }
 
     void displayError(const QString &t) // No console on Windows.
     {
-        QMessageBox::critical(0, QLatin1String(appNameC), t);
+        QMessageBox::critical(0, APP_NAME, t);
     }
 
 #else
@@ -165,7 +192,7 @@ namespace {
     {
         QString version;
         QTextStream str(&version);
-        str << '\n' << appNameC << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
+        str << '\n' << APP_NAME << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
         pm.formatPluginVersions(str);
         str << '\n' << coreplugin->copyright() << '\n';
         displayHelpText(version);
@@ -188,12 +215,12 @@ namespace {
 
     inline QString msgSendArgumentFailed()
     {
-        return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
+        return QCoreApplication::translate("Application",
+                "Unable to send command line arguments to the already running instance. It appears to be not responding.");
     }
 
     // Prepare a remote argument: If it is a relative file, add the current directory
     // since the the central instance might be running in a different directory.
-
     inline QString prepareRemoteArgument(const QString &a)
     {
         QFileInfo fi(a);
@@ -206,7 +233,7 @@ namespace {
         return a;
     }
 
-    // Send the arguments to an already running instance of OpenPilot GCS
+    // Send the arguments to an already running instance of application
     bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
     {
         if (!arguments.empty()) {
@@ -230,7 +257,7 @@ namespace {
     void systemInit()
     {
 #ifdef Q_OS_MAC
-        // increase the number of file that can be opened in OpenPilot GCS
+        // increase the number of file that can be opened in application
         struct rlimit rl;
         getrlimit(RLIMIT_NOFILE, &rl);
         rl.rlim_cur = rl.rlim_max;
@@ -268,95 +295,99 @@ namespace {
     AppOptions options()
     {
         AppOptions appOptions;
-        appOptions.insert(HELP_OPTION1, false);
-        appOptions.insert(HELP_OPTION2, false);
-        appOptions.insert(HELP_OPTION3, false);
-        appOptions.insert(HELP_OPTION4, false);
+        appOptions.insert(HELP1_OPTION, false);
+        appOptions.insert(HELP2_OPTION, false);
+        appOptions.insert(HELP3_OPTION, false);
+        appOptions.insert(HELP4_OPTION, false);
         appOptions.insert(VERSION_OPTION, false);
+        appOptions.insert(NO_SPLASH_OPTION, false);
         appOptions.insert(CLIENT_OPTION, false);
         appOptions.insert(CONFIG_OPTION, true);
-        appOptions.insert(CLEAN_CONFIG_OPTION, false);
+        appOptions.insert(RESET_OPTION, false);
+        appOptions.insert(CONFIG_FILE_OPTION, true);
         appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
-        appOptions.insert(RESET, false);
-        appOptions.insert(NO_SPLASH, false);
         return appOptions;
     }
 
-    FoundAppOptions parseCommandLine(SharedTools::QtSingleApplication &app, ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
+    AppOptionValues parseCommandLine(SharedTools::QtSingleApplication &app,
+            ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
     {
-        FoundAppOptions foundAppOptions;
+        AppOptionValues appOptionValues;
         const QStringList arguments = app.arguments();
         if (arguments.size() > 1) {
             AppOptions appOptions = options();
-            if (!pluginManager.parseOptions(arguments, appOptions, &foundAppOptions, &errorMessage)) {
-    //            displayError(errorMessage);
-    //            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
-            }
+            pluginManager.parseOptions(arguments, appOptions, &appOptionValues, &errorMessage);
         }
-        return foundAppOptions;
+        return appOptionValues;
     }
 
-    void loadFactoryDefaults(QSettings &settings)
+    void loadFactoryDefaults(QSettings &settings, AppOptionValues &appOptionValues)
     {
-        QDir directory(QCoreApplication::applicationDirPath() + QString(SHARE_PATH) + QString("/default_configurations"));
+        QDir directory(QCoreApplication::applicationDirPath() + SHARE_PATH + QString("/default_configurations"));
+        qDebug() << "Looking for factory defaults configuration files in:" << directory.absolutePath();
 
-        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
+        QString fileName;
 
-        // check if command line contains a config file name
-        QString commandLine;
-        foreach(QString str, qApp->arguments()) {
-            if (str.contains("configfile")) {
-                commandLine = str.split("=").at(1);
+        // check if command line option -config-file contains a file name
+        QString commandLine = appOptionValues.value(CONFIG_FILE_OPTION);
+        if (!commandLine.isEmpty()) {
+            if (QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
+                // file name specified on command line has a relative path
+                fileName = directory.absolutePath() + QDir::separator() + commandLine;
+                qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
+            } else if (QFile::exists(commandLine)) {
+                // file name specified on command line has an absolutee path
+                fileName = commandLine;
+                qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
+            } else {
+                qWarning() << "Configuration file" << commandLine << "specified on command line does not exist.";
             }
         }
-        QString filename;
-        if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
-            // use file name specified on command line
-            filename = directory.absolutePath() + QDir::separator() + commandLine;
-            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
-        } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
-            // use default file name
-            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
-            qDebug() << "Default configuration file" << filename << "will be loaded.";
-        } else {
+
+        if (fileName.isEmpty()) {
+            // check default file
+            if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+                // use default file name
+                fileName = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+                qDebug() << "Default configuration file" << fileName << "will be loaded.";
+            } else {
+                qWarning() << "No default configuration file found in" << directory.absolutePath();
+            }
+        }
+
+        if (fileName.isEmpty()) {
             // TODO should we exit violently?
-            qWarning() << "No default configuration file found!";
+            qCritical() << "No default configuration file found!";
             return;
         }
 
         // create settings from file
-        QSettings qs(filename, XmlConfig::XmlSettingsFormat);
+        QSettings qs(fileName, XmlConfig::XmlSettingsFormat);
 
         // transfer loaded settings to application settings
         QStringList keys = qs.allKeys();
-        foreach(QString key, keys) {
+        foreach(QString key, keys)
+        {
             settings.setValue(key, qs.value(key));
         }
 
-        qDebug() << "Configuration file" << filename << "was loaded.";
+        qDebug() << "Configuration file" << fileName << "was loaded.";
     }
 
     void overrideSettings(QSettings &settings, int argc, char **argv)
     {
-        // Options like -DMy/setting=test
+        // Options like -D My/setting=test
         QRegExp rx("([^=]+)=(.*)");
 
-        QMap<QString, QString> settingOptions;
         for (int i = 0; i < argc; ++i) {
-            if (QString(CONFIG_OPTION).compare(QString(argv[i])) == 0) {
+            if (CONFIG_OPTION == QString(argv[i])) {
                 if (rx.indexIn(argv[++i]) > -1) {
-                    settingOptions.insert(rx.cap(1), rx.cap(2));
+                    QString key = rx.cap(1);
+                    QString value = rx.cap(2);
+                    qDebug() << "User setting" << key << "set to value" << value;
+                    settings.setValue(key, value);
                 }
             }
-            if (QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0) {
-                settings.clear();
-            }
-        }
-
-        QList<QString> keys = settingOptions.keys();
-        foreach (QString key, keys) {
-            qDebug() << "Overriding user setting:" << key << "with value" << settingOptions.value(key);
-            settings.setValue(key, settingOptions.value(key));
         }
 
         settings.sync();
@@ -364,7 +395,8 @@ namespace {
 
     void loadTranslators(QString language, QTranslator &translator, QTranslator &qtTranslator)
     {
-        const QString &creatorTrPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH) + QLatin1String("/translations");
+        const QString &creatorTrPath = QCoreApplication::applicationDirPath() + SHARE_PATH
+                + QLatin1String("/translations");
         if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
             const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
             const QString &qtTrFile = QLatin1String("qt_") + language;
@@ -390,7 +422,7 @@ int main(int argc, char **argv)
     systemInit();
 
     // create application
-    SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
+    SharedTools::QtSingleApplication app(APP_NAME, argc, argv);
 
     // initialize the plugin manager
     ExtensionSystem::PluginManager pluginManager;
@@ -398,9 +430,9 @@ int main(int argc, char **argv)
     pluginManager.setPluginPaths(getPluginPaths());
 
     // parse command line
-    qDebug() << "Command line" << app.arguments();;
+    qDebug() << "Command line" << app.arguments();
     QString errorMessage;
-    FoundAppOptions foundAppOptions = parseCommandLine(app, pluginManager, errorMessage);
+    AppOptionValues appOptionValues = parseCommandLine(app, pluginManager, errorMessage);
     if (!errorMessage.isEmpty()) {
         // this will display two popups : one error popup + one usage string popup
         // TODO merge two popups into one.
@@ -412,14 +444,14 @@ int main(int argc, char **argv)
     // load user settings
     // Must be done before any QSettings class is created
     // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
-    QString settingsPath = QCoreApplication::applicationDirPath() + QLatin1String(SHARE_PATH);
-    qDebug() << "Loading user settings from" << settingsPath;
+    QString settingsPath = QCoreApplication::applicationDirPath() + SHARE_PATH;
+    qDebug() << "Loading system settings from" << settingsPath;
     QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope, settingsPath);
-    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, QLatin1String("OpenPilot"),
-            QLatin1String("OpenPilotGCS_config"));
+    qDebug() << "Loading user settings from" << SETTINGS_ORG_NAME << "/" << SETTINGS_APP_NAME;
+    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, SETTINGS_ORG_NAME, SETTINGS_APP_NAME);
 
     // need to reset all user settings?
-    if (foundAppOptions.contains(RESET)) {
+    if (appOptionValues.contains(RESET_OPTION)) {
         qDebug() << "Resetting user settings!";
         settings.clear();
     }
@@ -428,7 +460,7 @@ int main(int argc, char **argv)
     if (!settings.allKeys().count()) {
         // no user settings, load the factory defaults
         qDebug() << "No user settings found, loading factory defaults...";
-        loadFactoryDefaults(settings);
+        loadFactoryDefaults(settings, appOptionValues);
     }
 
     // override settings with command line provided values
@@ -453,30 +485,36 @@ int main(int argc, char **argv)
     // the language used is defined by the General/OverrideLanguage setting (defaults to GCS locale)
     // if the translation file for the given language is not found, GCS will default to built in English.
     QString language = settings.value("General/OverrideLanguage", localeName).toString();
-    qDebug() << "main - translation language:" << language;
+    qDebug() << "main - language:" << language;
     QTranslator translator;
     QTranslator qtTranslator;
     loadTranslators(language, translator, qtTranslator);
 
     app.setProperty("qtc_locale", localeName); // Do we need this?
 
+    if (appOptionValues.contains(EXIT_AFTER_CONFIG_OPTION)) {
+        qDebug() << "main - exiting after config!";
+        return 0;
+    }
+
     // open the splash screen
     GCSSplashScreen *splash = 0;
-    if (!foundAppOptions.contains(NO_SPLASH)) {
+    if (!appOptionValues.contains(NO_SPLASH_OPTION)) {
         splash = new GCSSplashScreen();
         // show splash
         splash->showProgressMessage(QObject::tr("Application starting..."));
         splash->show();
         // connect to track progress of plugin manager
-        QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
-                    splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
+        QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)), splash,
+                SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
     }
 
     // find and load core plugin
     const PluginSpecSet plugins = pluginManager.plugins();
     ExtensionSystem::PluginSpec *coreplugin = 0;
-    foreach (ExtensionSystem::PluginSpec *spec, plugins) {
-        if (spec->name() == QLatin1String(corePluginNameC)) {
+    foreach (ExtensionSystem::PluginSpec *spec, plugins)
+    {
+        if (spec->name() == CORE_PLUGIN_NAME) {
             coreplugin = spec;
             break;
         }
@@ -493,23 +531,18 @@ int main(int argc, char **argv)
         return 1;
     }
 
-    if (foundAppOptions.contains(VERSION_OPTION)) {
+    if (appOptionValues.contains(VERSION_OPTION)) {
         printVersion(coreplugin, pluginManager);
         return 0;
     }
-    if (foundAppOptions.contains(EXIT_AFTER_CONFIG_OPTION)) {
-        return 0;
-    }
-    if (foundAppOptions.contains(HELP_OPTION1)
-            || foundAppOptions.contains(HELP_OPTION2)
-            || foundAppOptions.contains(HELP_OPTION3)
-            || foundAppOptions.contains(HELP_OPTION4)) {
+    if (appOptionValues.contains(HELP1_OPTION) || appOptionValues.contains(HELP2_OPTION)
+            || appOptionValues.contains(HELP3_OPTION) || appOptionValues.contains(HELP4_OPTION)) {
         printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
         return 0;
     }
 
     const bool isFirstInstance = !app.isRunning();
-    if (!isFirstInstance && foundAppOptions.contains(CLIENT_OPTION)) {
+    if (!isFirstInstance && appOptionValues.contains(CLIENT_OPTION)) {
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
     }
 
@@ -522,7 +555,8 @@ int main(int argc, char **argv)
 
     {
         QStringList errors;
-        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins()) {
+        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
+        {
             if (p->hasError()) {
                 errors.append(p->errorString());
             }

From f7236eb180681e8ce9c44ed48df366506412c449 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 18 Apr 2013 15:45:38 +0300
Subject: [PATCH 065/125] tools: add Linux 64bit native ARM toolchain

---
 make/tools.mk | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index ccf59a4c2..adac4a631 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -52,15 +52,16 @@ endif
 ##############################
 
 ifeq ($(UNAME), Linux)
-    ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
     ifeq ($(ARCH), x86_64)
-        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux-x64.tar.bz2
+        ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-amd64.tar.bz2
+        QT_SDK_URL  := "Plese use native Qt 4.8.x package"
     else
-        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
+        ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
+        QT_SDK_URL  := "Plese use native Qt 4.8.x package"
     endif
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
-    QT_SDK_URL  := TODO/qt-4.8.4-mac.tar.bz2
+    QT_SDK_URL  := "Plese use native Qt 4.8.x package"
 else ifeq ($(UNAME), Windows)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
     QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2

From b7de3c99d8de804ff79699e04b57e3ce85404a70 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 18 Apr 2013 16:03:05 +0200
Subject: [PATCH 066/125] tools: fix typo in comments

---
 make/tools.mk | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index adac4a631..e15d2a69f 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -54,14 +54,14 @@ endif
 ifeq ($(UNAME), Linux)
     ifeq ($(ARCH), x86_64)
         ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-amd64.tar.bz2
-        QT_SDK_URL  := "Plese use native Qt 4.8.x package"
+        QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
     else
         ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
-        QT_SDK_URL  := "Plese use native Qt 4.8.x package"
+        QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
     endif
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
-    QT_SDK_URL  := "Plese use native Qt 4.8.x package"
+    QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
 else ifeq ($(UNAME), Windows)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
     QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2

From 509a1b4fe16f0410e360038618416177e08fedc3 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 18 Apr 2013 17:37:12 +0300
Subject: [PATCH 067/125] make: fix *_program targets (were broken for
 firmware)

---
 make/apps-defs.mk   | 6 ++++++
 make/boot-defs.mk   | 3 +++
 make/common-defs.mk | 6 ------
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 20bb858c0..08c6c8211 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -175,3 +175,9 @@ ifeq ($(MCU),cortex-m3)
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 endif
+
+# Add opfw target
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index 1e8652be4..e6aaeb22e 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -126,3 +126,6 @@ ifeq ($(MCU),cortex-m3)
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
 endif
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
diff --git a/make/common-defs.mk b/make/common-defs.mk
index 9b927a9a8..6663c8ca2 100644
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@@ -225,12 +225,6 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-# Add opfw target
-$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
-
-# Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
-
 .PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss

From f15249ff07d1dc60b07d80dc1ddaed376cc94f33 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 18 Apr 2013 17:50:34 +0300
Subject: [PATCH 068/125] make: fix bu_* targets

---
 make/apps-defs.mk   | 3 ---
 make/common-defs.mk | 3 +++
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 08c6c8211..e8ff9a016 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -176,8 +176,5 @@ else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 endif
 
-# Add opfw target
-$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
-
 # Add jtag targets (program and wipe)
 $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
diff --git a/make/common-defs.mk b/make/common-defs.mk
index 6663c8ca2..97ee3a818 100644
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@@ -223,6 +223,9 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
+# Add opfw target
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 .PHONY: elf lss sym hex bin bino opfw

From 36c0ec100be5c094e05347d643bd685629529c00 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 18 Apr 2013 21:03:25 +0200
Subject: [PATCH 069/125] OP-908 added pios_constants.h containing some (more
 or less) useful physical constants, added other float constants to
 pios_math.h fixes for code style.

+review OPReview-436
---
 flight/Libraries/WorldMagModel.c              |  11 +-
 flight/Libraries/math/sin_lookup.c            |   2 +-
 flight/Libraries/paths.c                      |   4 +-
 flight/Modules/Attitude/attitude.c            |  15 +-
 flight/Modules/Attitude/revolution/attitude.c |   2 -
 .../fixedwingpathfollower.c                   |   3 +-
 flight/PiOS/Common/pios_mpxv.c                |  52 +++----
 flight/PiOS/inc/pios_constants.h              | 134 ++++++++++++++++++
 flight/PiOS/inc/pios_helpers.h                |   6 +-
 flight/PiOS/inc/pios_math.h                   |  29 +++-
 10 files changed, 205 insertions(+), 53 deletions(-)
 create mode 100644 flight/PiOS/inc/pios_constants.h

diff --git a/flight/Libraries/WorldMagModel.c b/flight/Libraries/WorldMagModel.c
index 8e5d2398c..4113c3640 100644
--- a/flight/Libraries/WorldMagModel.c
+++ b/flight/Libraries/WorldMagModel.c
@@ -57,7 +57,8 @@
 //#define MALLOC(x) malloc(x)
 //#define FREE(x) free(x)
 
-// const should hopefully keep them in the flash region
+// http://reviews.openpilot.org/cru/OPReview-436#c6476 :
+// first column not used but it will be optimized out by compiler
 static const float CoeffFile[91][6] = { {0, 0, 0, 0, 0, 0},
 	{1, 0, -29496.6, 0.0, 11.6, 0.0},
 	{1, 1, -1586.3, 4944.4, 16.5, -25.9},
@@ -204,11 +205,11 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
     // ***********
     // range check supplied params
 
-    if (Lat <  -90) return -1;  // error
-    if (Lat >   90) return -2;  // error
+    if (Lat <  -90.0f) return -1;  // error
+    if (Lat >   90.0f) return -2;  // error
 
-    if (Lon < -180) return -3;  // error
-    if (Lon >  180) return -4;  // error
+    if (Lon < -180.0f) return -3;  // error
+    if (Lon >  180.0f) return -4;  // error
 
     // ***********
     // allocated required memory
diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index b49d500ea..f4ff5d22f 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -82,7 +82,7 @@ int sin_lookup_initalize()
 		return -1;
 
 	for(uint32_t i = 0; i < 180; i++)
-		sin_table[i] = sinf((float)i * 2 * M_PI_F / 360.0f);
+		sin_table[i] = sinf(DEG2RAD((float)i));
 
 	return 0;
 }
diff --git a/flight/Libraries/paths.c b/flight/Libraries/paths.c
index b8e9f804c..72b0e1d83 100644
--- a/flight/Libraries/paths.c
+++ b/flight/Libraries/paths.c
@@ -94,7 +94,7 @@ static void path_endpoint( float * start_point, float * end_point, float * cur_p
 	dist_diff = sqrtf( diff_north * diff_north + diff_east * diff_east );
 	dist_path = sqrtf( path_north * path_north + path_east * path_east );
 
-	if(dist_diff < 1e-6f ) {
+	if (dist_diff < 1e-6f ) {
 		status->fractional_progress = 1;
 		status->error = 0;
 		status->path_direction[0] = status->path_direction[1] = 0;
@@ -135,7 +135,7 @@ static void path_vector( float * start_point, float * end_point, float * cur_poi
 	dot = path_north * diff_north + path_east * diff_east;
 	dist_path = sqrtf( path_north * path_north + path_east * path_east );
 
-	if(dist_path < 1e-6f) {
+	if (dist_path < 1e-6f){
 		// if the path is too short, we cannot determine vector direction.
 		// Fly towards the endpoint to prevent flying away,
 		// but assume progress=1 either way.
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index 7a669dd2c..bb8e4108b 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -58,6 +58,8 @@
 #include "manualcontrolcommand.h"
 #include "CoordinateConversions.h"
 #include <pios_board_info.h>
+#include <pios_math.h>
+
  
 // Private constants
 #define STACK_SIZE_BYTES 540
@@ -67,9 +69,6 @@
 #define UPDATE_RATE  25.0f
 #define GYRO_NEUTRAL 1665
 
-#define F_PI ((float)M_PI)
-
-#define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
 // Private types
 
 // Private variables
@@ -336,7 +335,7 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
 			float throttle;
 			FlightStatusArmedGet(&armed);
 			ManualControlCommandThrottleGet(&throttle);  // Until flight status indicates airborne
-			if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) {
+			if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0.0f)) {
 				trim_samples++;
 				// Store the digitally scaled version since that is what we use for bias
 				trim_accels[0] += accels->x;
@@ -515,10 +514,10 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 		// Work out time derivative from INSAlgo writeup
 		// Also accounts for the fact that gyros are in deg/s
 		float qdot[4];
-		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
-		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
-		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
-		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
+		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
 		
 		// Take a time step
 		q[0] = q[0] + qdot[0];
diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 2a0b636f3..cfb95e244 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -76,8 +76,6 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define FAILSAFE_TIMEOUT_MS 10
 
-#define PI_MOD(x) (fmodf(x + M_PI_F, M_PI_F * 2) - M_PI_F)
-
 // low pass filter configuration to calculate offset
 // of barometric altitude sensor
 // reasoning: updates at: 10 Hz, tau= 300 s settle time
diff --git a/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
index ebf9e4cc6..daff8f5ca 100644
--- a/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -67,12 +67,11 @@
 #include "velocityactual.h"
 #include "CoordinateConversions.h"
 #include <pios_math.h>
+#include <pios_constants.h>
 // Private constants
 #define MAX_QUEUE_SIZE 4
 #define STACK_SIZE_BYTES 1548
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
-#define GEE 9.81f
-// Private types
 
 // Private variables
 static bool followerEnabled = false;
diff --git a/flight/PiOS/Common/pios_mpxv.c b/flight/PiOS/Common/pios_mpxv.c
index b430286f3..eae443852 100644
--- a/flight/PiOS/Common/pios_mpxv.c
+++ b/flight/PiOS/Common/pios_mpxv.c
@@ -45,46 +45,46 @@
  */
 uint16_t PIOS_MPXV_Measure(PIOS_MPXV_descriptor *desc)
 {
-	if (desc)
-		return PIOS_ADC_PinGet(desc->airspeedADCPin);
-	return 0;
+    if (desc)
+    return PIOS_ADC_PinGet(desc->airspeedADCPin);
+    return 0;
 }
 
 /*
  *Returns zeroPoint so that the user can inspect the calibration vs. the sensor value
  */
-uint16_t PIOS_MPXV_Calibrate(PIOS_MPXV_descriptor *desc,uint16_t measurement){
-	desc->calibrationSum += measurement;
-	desc->calibrationCount++;
-	desc->zeroPoint = (uint16_t)(((float)desc->calibrationSum) / desc->calibrationCount);
-	return desc->zeroPoint;
+uint16_t PIOS_MPXV_Calibrate(PIOS_MPXV_descriptor *desc,uint16_t measurement) {
+    desc->calibrationSum += measurement;
+    desc->calibrationCount++;
+    desc->zeroPoint = (uint16_t)(((float)desc->calibrationSum) / desc->calibrationCount);
+    return desc->zeroPoint;
 }
 
-
 /*
  * Reads the airspeed and returns CAS (calibrated airspeed) in the case of success. 
  * In the case of a failed read, returns -1.
  */
 float PIOS_MPXV_CalcAirspeed(PIOS_MPXV_descriptor *desc,uint16_t measurement)
 {
-	//Calculate dynamic pressure, as per docs
-	float Qc = 3.3f/4096.0f * (float)(measurement - desc->zeroPoint);
+    //Calculate dynamic pressure, as per docs
+    float Qc = 3.3f/4096.0f * (float)(measurement - desc->zeroPoint);
 
-	//Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
-	// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
-	if (Qc < 0) {
-		Qc=0;
-	}
-	
-	//Compute calibrated airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
-	float calibratedAirspeed = A0*sqrtf(5.0f*(powf(Qc/P0+1.0f,POWER)-1.0f));
-	
-	//Upper bound airspeed. No need to lower bound it, that comes from Qc
-	if (calibratedAirspeed > desc->maxSpeed) { //in [m/s]
-		calibratedAirspeed=desc->maxSpeed;
-	}
-	
-	return calibratedAirspeed;
+    //Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
+    // to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
+    if (Qc < 0) {
+        Qc=0;
+    }
+
+    //Compute calibrated airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
+    float calibratedAirspeed = A0 * sqrtf( 5.0f * (powf(Qc / P0 + 1.0f, POWER) - 1.0f));
+
+    //Upper bound airspeed. No need to lower bound it, that comes from Qc
+    //in [m/s]
+    if (calibratedAirspeed > desc->maxSpeed) {
+        calibratedAirspeed=desc->maxSpeed;
+    }
+
+    return calibratedAirspeed;
 }
 
 #endif /* PIOS_INCLUDE_MPXV */
diff --git a/flight/PiOS/inc/pios_constants.h b/flight/PiOS/inc/pios_constants.h
new file mode 100644
index 000000000..a1889b099
--- /dev/null
+++ b/flight/PiOS/inc/pios_constants.h
@@ -0,0 +1,134 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_constants.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright_F (Cf) 2013.
+ * @brief      Shared phisical constants
+ *             --
+ * @see        The GNU Public License_F (GPLf) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ *_F (at your optionf) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_CONSTANTS_H
+#define PIOS_CONSTANTS_H
+
+// Constants borrowed straight from GSL http://www.gnu.org/software/gsl/
+
+#define PIOS_CONST_MKS_SPEED_OF_LIGHT_F (2.99792458e8f) /* m / s */
+#define PIOS_CONST_MKS_GRAVITATIONAL_CONSTANT_F (6.673e-11f) /* m^3 / kg s^2 */
+#define PIOS_CONST_MKS_PLANCKS_CONSTANT_H_F (6.62606896e-34f) /* kg m^2 / s */
+#define PIOS_CONST_MKS_PLANCKS_CONSTANT_HBAR_F (1.05457162825e-34f) /* kg m^2 / s */
+#define PIOS_CONST_MKS_ASTRONOMICAL_UNIT_F (1.49597870691e11f) /* m */
+#define PIOS_CONST_MKS_LIGHT_YEAR_F (9.46053620707e15f) /* m */
+#define PIOS_CONST_MKS_PARSEC_F (3.08567758135e16f) /* m */
+#define PIOS_CONST_MKS_GRAV_ACCEL_F (9.80665e0f) /* m / s^2 */
+#define PIOS_CONST_MKS_ELECTRON_VOLT_F (1.602176487e-19f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_MASS_ELECTRON_F (9.10938188e-31f) /* kg */
+#define PIOS_CONST_MKS_MASS_MUON_F (1.88353109e-28f) /* kg */
+#define PIOS_CONST_MKS_MASS_PROTON_F (1.67262158e-27f) /* kg */
+#define PIOS_CONST_MKS_MASS_NEUTRON_F (1.67492716e-27f) /* kg */
+#define PIOS_CONST_MKS_RYDBERG_F (2.17987196968e-18f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_BOLTZMANN_F (1.3806504e-23f) /* kg m^2 / K s^2 */
+#define PIOS_CONST_MKS_MOLAR_GAS_F (8.314472e0f) /* kg m^2 / K mol s^2 */
+#define PIOS_CONST_MKS_STANDARD_GAS_VOLUME_F (2.2710981e-2f) /* m^3 / mol */
+#define PIOS_CONST_MKS_MINUTE_F (6e1f) /* s */
+#define PIOS_CONST_MKS_HOUR_F (3.6e3f) /* s */
+#define PIOS_CONST_MKS_DAY_F (8.64e4f) /* s */
+#define PIOS_CONST_MKS_WEEK_F (6.048e5f) /* s */
+#define PIOS_CONST_MKS_INCH_F (2.54e-2f) /* m */
+#define PIOS_CONST_MKS_FOOT_F (3.048e-1f) /* m */
+#define PIOS_CONST_MKS_YARD_F (9.144e-1f) /* m */
+#define PIOS_CONST_MKS_MILE_F (1.609344e3f) /* m */
+#define PIOS_CONST_MKS_NAUTICAL_MILE_F (1.852e3f) /* m */
+#define PIOS_CONST_MKS_FATHOM_F (1.8288e0f) /* m */
+#define PIOS_CONST_MKS_MIL_F (2.54e-5f) /* m */
+#define PIOS_CONST_MKS_POINT_F (3.52777777778e-4f) /* m */
+#define PIOS_CONST_MKS_TEXPOINT_F (3.51459803515e-4f) /* m */
+#define PIOS_CONST_MKS_MICRON_F (1e-6f) /* m */
+#define PIOS_CONST_MKS_ANGSTROM_F (1e-10f) /* m */
+#define PIOS_CONST_MKS_HECTARE_F (1e4f) /* m^2 */
+#define PIOS_CONST_MKS_ACRE_F (4.04685642241e3f) /* m^2 */
+#define PIOS_CONST_MKS_BARN_F (1e-28f) /* m^2 */
+#define PIOS_CONST_MKS_LITER_F (1e-3f) /* m^3 */
+#define PIOS_CONST_MKS_US_GALLON_F (3.78541178402e-3f) /* m^3 */
+#define PIOS_CONST_MKS_QUART_F (9.46352946004e-4f) /* m^3 */
+#define PIOS_CONST_MKS_PINT_F (4.73176473002e-4f) /* m^3 */
+#define PIOS_CONST_MKS_CUP_F (2.36588236501e-4f) /* m^3 */
+#define PIOS_CONST_MKS_FLUID_OUNCE_F (2.95735295626e-5f) /* m^3 */
+#define PIOS_CONST_MKS_TABLESPOON_F (1.47867647813e-5f) /* m^3 */
+#define PIOS_CONST_MKS_TEASPOON_F (4.92892159375e-6f) /* m^3 */
+#define PIOS_CONST_MKS_CANADIAN_GALLON_F (4.54609e-3f) /* m^3 */
+#define PIOS_CONST_MKS_UK_GALLON_F (4.546092e-3f) /* m^3 */
+#define PIOS_CONST_MKS_MILES_PER_HOUR_F (4.4704e-1f) /* m / s */
+#define PIOS_CONST_MKS_KILOMETERS_PER_HOUR_F (2.77777777778e-1f) /* m / s */
+#define PIOS_CONST_MKS_KNOT_F (5.14444444444e-1f) /* m / s */
+#define PIOS_CONST_MKS_POUND_MASS_F (4.5359237e-1f) /* kg */
+#define PIOS_CONST_MKS_OUNCE_MASS_F (2.8349523125e-2f) /* kg */
+#define PIOS_CONST_MKS_TON_F (9.0718474e2f) /* kg */
+#define PIOS_CONST_MKS_METRIC_TON_F (1e3f) /* kg */
+#define PIOS_CONST_MKS_UK_TON_F (1.0160469088e3f) /* kg */
+#define PIOS_CONST_MKS_TROY_OUNCE_F (3.1103475e-2f) /* kg */
+#define PIOS_CONST_MKS_CARAT_F (2e-4f) /* kg */
+#define PIOS_CONST_MKS_UNIFIED_ATOMIC_MASS_F (1.660538782e-27f) /* kg */
+#define PIOS_CONST_MKS_GRAM_FORCE_F (9.80665e-3f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_POUND_FORCE_F (4.44822161526e0f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_KILOPOUND_FORCE_F (4.44822161526e3f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_POUNDAL_F (1.38255e-1f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_CALORIE_F (4.1868e0f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_BTU_F (1.05505585262e3f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_THERM_F (1.05506e8f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_HORSEPOWER_F (7.457e2f) /* kg m^2 / s^3 */
+#define PIOS_CONST_MKS_BAR_F (1e5f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_STD_ATMOSPHERE_F (1.01325e5f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_TORR_F (1.33322368421e2f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_METER_OF_MERCURY_F (1.33322368421e5f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_INCH_OF_MERCURY_F (3.38638815789e3f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_INCH_OF_WATER_F (2.490889e2f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_PSI_F (6.89475729317e3f) /* kg / m s^2 */
+#define PIOS_CONST_MKS_POISE_F (1e-1f) /* kg m^-1 s^-1 */
+#define PIOS_CONST_MKS_STOKES_F (1e-4f) /* m^2 / s */
+#define PIOS_CONST_MKS_STILB_F (1e4f) /* cd / m^2 */
+#define PIOS_CONST_MKS_LUMEN_F (1e0f) /* cd sr */
+#define PIOS_CONST_MKS_LUX_F (1e0f) /* cd sr / m^2 */
+#define PIOS_CONST_MKS_PHOT_F (1e4f) /* cd sr / m^2 */
+#define PIOS_CONST_MKS_FOOTCANDLE_F (1.076e1f) /* cd sr / m^2 */
+#define PIOS_CONST_MKS_LAMBERT_F (1e4f) /* cd sr / m^2 */
+#define PIOS_CONST_MKS_FOOTLAMBERT_F (1.07639104e1f) /* cd sr / m^2 */
+#define PIOS_CONST_MKS_CURIE_F (3.7e10f) /* 1 / s */
+#define PIOS_CONST_MKS_ROENTGEN_F (2.58e-4f) /* A s / kg */
+#define PIOS_CONST_MKS_RAD_F (1e-2f) /* m^2 / s^2 */
+#define PIOS_CONST_MKS_SOLAR_MASS_F (1.98892e30f) /* kg */
+#define PIOS_CONST_MKS_BOHR_RADIUS_F (5.291772083e-11f) /* m */
+#define PIOS_CONST_MKS_NEWTON_F (1e0f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_DYNE_F (1e-5f) /* kg m / s^2 */
+#define PIOS_CONST_MKS_JOULE_F (1e0f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_ERG_F (1e-7f) /* kg m^2 / s^2 */
+#define PIOS_CONST_MKS_STEFAN_BOLTZMANN_CONSTANT_F (5.67040047374e-8f) /* kg / K^4 s^3 */
+#define PIOS_CONST_MKS_THOMSON_CROSS_SECTION_F (6.65245893699e-29f) /* m^2 */
+#define PIOS_CONST_MKS_BOHR_MAGNETON_F (9.27400899e-24f) /* A m^2 */
+#define PIOS_CONST_MKS_NUCLEAR_MAGNETON_F (5.05078317e-27f) /* A m^2 */
+#define PIOS_CONST_MKS_ELECTRON_MAGNETIC_MOMENT_F (9.28476362e-24f) /* A m^2 */
+#define PIOS_CONST_MKS_PROTON_MAGNETIC_MOMENT_F (1.410606633e-26f) /* A m^2 */
+#define PIOS_CONST_MKS_FARADAY_F (9.64853429775e4f) /* A s / mol */
+#define PIOS_CONST_MKS_ELECTRON_CHARGE_F (1.602176487e-19f) /* A s */
+#define PIOS_CONST_MKS_VACUUM_PERMITTIVITY_F (8.854187817e-12f) /* A^2 s^4 / kg m^3 */
+#define PIOS_CONST_MKS_VACUUM_PERMEABILITY_F (1.25663706144e-6f) /* kg m / A^2 s^2 */
+#define PIOS_CONST_MKS_DEBYE_F (3.33564095198e-30f) /* A s^2 / m^2 */
+#define PIOS_CONST_MKS_GAUSS_F (1e-4f) /* kg / A s^2 */
+
+#endif /* PIOS_CONSTANTS_H */
diff --git a/flight/PiOS/inc/pios_helpers.h b/flight/PiOS/inc/pios_helpers.h
index 1377411a7..6a3bc1810 100644
--- a/flight/PiOS/inc/pios_helpers.h
+++ b/flight/PiOS/inc/pios_helpers.h
@@ -24,8 +24,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_HELPERS_H_
-#define PIOS_HELPERS_H_
+#ifndef PIOS_HELPERS_H
+#define PIOS_HELPERS_H
 
 
 /**
@@ -37,4 +37,4 @@
 #define NELEMENTS(x) (sizeof(x) / sizeof((x)[0]))
 
 
-#endif // PIOS_HELPERS_H_
+#endif // PIOS_HELPERS_H
diff --git a/flight/PiOS/inc/pios_math.h b/flight/PiOS/inc/pios_math.h
index 38702f363..d81249e56 100644
--- a/flight/PiOS/inc/pios_math.h
+++ b/flight/PiOS/inc/pios_math.h
@@ -24,12 +24,33 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_MATH_H_
-#define PIOS_MATH_H_
+#ifndef PIOS_MATH_H
+#define PIOS_MATH_H
+// Generic float math constants
+#define M_E_F        2.71828182845904523536028747135f      /* e */
+#define M_LOG2E_F    1.44269504088896340735992468100f      /* log_2 (e) */
+#define M_LOG10E_F   0.43429448190325182765112891892f      /* log_10 (e) */
+#define M_SQRT2_F    1.41421356237309504880168872421f      /* sqrt(2) */
+#define M_SQRT1_2_F  0.70710678118654752440084436210f      /* sqrt(1/2) */
+#define M_SQRT3_F    1.73205080756887729352744634151f      /* sqrt(3) */
+#define M_PI_F       3.14159265358979323846264338328f      /* pi */
+#define M_PI_2_F     1.57079632679489661923132169164f      /* pi/2 */
+#define M_PI_4_F     0.78539816339744830961566084582f      /* pi/4 */
+#define M_SQRTPI_F   1.77245385090551602729816748334f      /* sqrt(pi) */
+#define M_2_SQRTPI_F 1.12837916709551257389615890312f      /* 2/sqrt(pi) */
+#define M_1_PI_F     0.31830988618379067153776752675f      /* 1/pi */
+#define M_2_PI_F     0.63661977236758134307553505349f      /* 2/pi */
+#define M_LN10_F     2.30258509299404568401799145468f      /* ln(10) */
+#define M_LN2_F      0.69314718055994530941723212146f      /* ln(2) */
+#define M_LNPI_F     1.14472988584940017414342735135f      /* ln(pi) */
+#define M_EULER_F    0.57721566490153286060651209008f      /* Euler constant */
 
-#define M_PI_F ((float)M_PI)
+// Conversion macro
 #define RAD2DEG(rad)    ((rad)*(180.0f/M_PI_F))
 #define DEG2RAD(deg)    ((deg)*(M_PI_F/180.0f))
 
+// Useful math macros
+#define MAX(a,b) ((a) > (b) ? (a) : (b))
+#define MIN(a,b) ((a) < (b) ? (a) : (b))
 
-#endif // PIOS_MATH_H_
+#endif // PIOS_MATH_H

From f005485e639a4ff8870af130c0e8e15592549d94 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 18 Apr 2013 23:27:48 +0200
Subject: [PATCH 070/125] OP-900 Switched Simposix to common FreeRTOS version

+review OPReview-435
---
 .../Libraries/FreeRTOS/Source/croutine.c      |  371 ---
 .../FreeRTOS/Source/include/FreeRTOS.h        |  420 ---
 .../FreeRTOS/Source/include/StackMacros.h     |  173 --
 .../FreeRTOS/Source/include/croutine.h        |  749 ------
 .../Libraries/FreeRTOS/Source/include/list.h  |  305 ---
 .../FreeRTOS/Source/include/mpu_wrappers.h    |  135 -
 .../FreeRTOS/Source/include/portable.h        |  391 ---
 .../FreeRTOS/Source/include/projdefs.h        |   77 -
 .../Libraries/FreeRTOS/Source/include/queue.h | 1261 ---------
 .../FreeRTOS/Source/include/semphr.h          |  711 -----
 .../Libraries/FreeRTOS/Source/include/task.h  | 1263 ---------
 .../posix/Libraries/FreeRTOS/Source/list.c    |  191 --
 .../posix/Libraries/FreeRTOS/Source/queue.c   | 1465 -----------
 .../Libraries/FreeRTOS/Source/readme.txt      |   17 -
 .../posix/Libraries/FreeRTOS/Source/tasks.c   | 2323 -----------------
 15 files changed, 9852 deletions(-)
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/croutine.c
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/StackMacros.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/croutine.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/list.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/portable.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/projdefs.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/queue.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/semphr.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/include/task.h
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/list.c
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/queue.c
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/readme.txt
 delete mode 100644 flight/PiOS/posix/Libraries/FreeRTOS/Source/tasks.c

diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS/posix/Libraries/FreeRTOS/Source/croutine.c
deleted file mode 100644
index d6f116262..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/croutine.c
+++ /dev/null
@@ -1,371 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "croutine.h"
-
-/*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
- */
-#ifdef portREMOVE_STATIC_QUALIFIER
-	#define static
-#endif
-
-
-/* Lists for ready and blocked co-routines. --------------------*/
-static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ];	/*< Prioritised ready co-routines. */
-static xList xDelayedCoRoutineList1;									/*< Delayed co-routines. */
-static xList xDelayedCoRoutineList2;									/*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
-static xList * pxDelayedCoRoutineList;									/*< Points to the delayed co-routine list currently being used. */
-static xList * pxOverflowDelayedCoRoutineList;							/*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
-static xList xPendingReadyCoRoutineList;											/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
-
-/* Other file private variables. --------------------------------*/
-corCRCB * pxCurrentCoRoutine = NULL;
-static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0;
-static portTickType xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
-
-/* The initial state of the co-routine when it is created. */
-#define corINITIAL_STATE	( 0 )
-
-/*
- * Place the co-routine represented by pxCRCB into the appropriate ready queue
- * for the priority.  It is inserted at the end of the list.
- *
- * This macro accesses the co-routine ready lists and therefore must not be
- * used from within an ISR.
- */
-#define prvAddCoRoutineToReadyQueue( pxCRCB )																		\
-{																													\
-	if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority )															\
-	{																												\
-		uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;															\
-	}																												\
-	vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );	\
-}	
-
-/*
- * Utility to ready all the lists used by the scheduler.  This is called
- * automatically upon the creation of the first co-routine.
- */
-static void prvInitialiseCoRoutineLists( void );
-
-/*
- * Co-routines that are readied by an interrupt cannot be placed directly into
- * the ready lists (there is no mutual exclusion).  Instead they are placed in
- * in the pending ready list in order that they can later be moved to the ready
- * list by the co-routine scheduler.
- */
-static void prvCheckPendingReadyList( void );
-
-/*
- * Macro that looks at the list of co-routines that are currently delayed to
- * see if any require waking.
- *
- * Co-routines are stored in the queue in the order of their wake time -
- * meaning once one co-routine has been found whose timer has not expired
- * we need not look any further down the list.
- */
-static void prvCheckDelayedList( void );
-
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex )
-{
-signed portBASE_TYPE xReturn;
-corCRCB *pxCoRoutine;
-
-	/* Allocate the memory that will store the co-routine control block. */
-	pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) );
-	if( pxCoRoutine )
-	{
-		/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
-		be created and the co-routine data structures need initialising. */
-		if( pxCurrentCoRoutine == NULL )
-		{
-			pxCurrentCoRoutine = pxCoRoutine;
-			prvInitialiseCoRoutineLists();
-		}
-
-		/* Check the priority is within limits. */
-		if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
-		{
-			uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
-		}
-
-		/* Fill out the co-routine control block from the function parameters. */
-		pxCoRoutine->uxState = corINITIAL_STATE;
-		pxCoRoutine->uxPriority = uxPriority;
-		pxCoRoutine->uxIndex = uxIndex;
-		pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
-
-		/* Initialise all the other co-routine control block parameters. */
-		vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
-		vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
-
-		/* Set the co-routine control block as a link back from the xListItem.
-		This is so we can get back to the containing CRCB from a generic item
-		in a list. */
-		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
-		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
-	
-		/* Event lists are always in priority order. */
-		listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
-		
-		/* Now the co-routine has been initialised it can be added to the ready
-		list at the correct priority. */
-		prvAddCoRoutineToReadyQueue( pxCoRoutine );
-
-		xReturn = pdPASS;
-	}
-	else
-	{		
-		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-	}
-	
-	return xReturn;	
-}
-/*-----------------------------------------------------------*/
-
-void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList )
-{
-portTickType xTimeToWake;
-
-	/* Calculate the time to wake - this may overflow but this is
-	not a problem. */
-	xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
-
-	/* We must remove ourselves from the ready list before adding
-	ourselves to the blocked list as the same list item is used for
-	both lists. */
-	vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-
-	/* The list item will be inserted in wake time order. */
-	listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
-
-	if( xTimeToWake < xCoRoutineTickCount )
-	{
-		/* Wake time has overflowed.  Place this item in the
-		overflow list. */
-		vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-	}
-	else
-	{
-		/* The wake time has not overflowed, so we can use the
-		current block list. */
-		vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-	}
-
-	if( pxEventList )
-	{
-		/* Also add the co-routine to an event list.  If this is done then the
-		function must be called with interrupts disabled. */
-		vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
-	}
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckPendingReadyList( void )
-{
-	/* Are there any co-routines waiting to get moved to the ready list?  These
-	are co-routines that have been readied by an ISR.  The ISR cannot access
-	the	ready lists itself. */
-	while( !listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) )
-	{
-		corCRCB *pxUnblockedCRCB;
-
-		/* The pending ready list can be accessed by an ISR. */
-		portDISABLE_INTERRUPTS();
-		{	
-			pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );			
-			vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
-		}
-		portENABLE_INTERRUPTS();
-
-		vListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
-		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );	
-	}
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckDelayedList( void )
-{
-corCRCB *pxCRCB;
-
-	xPassedTicks = xTaskGetTickCount() - xLastTickCount;
-	while( xPassedTicks )
-	{
-		xCoRoutineTickCount++;
-		xPassedTicks--;
-
-		/* If the tick count has overflowed we need to swap the ready lists. */
-		if( xCoRoutineTickCount == 0 )
-		{
-			xList * pxTemp;
-
-			/* Tick count has overflowed so we need to swap the delay lists.  If there are
-			any items in pxDelayedCoRoutineList here then there is an error! */
-			pxTemp = pxDelayedCoRoutineList;
-			pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
-			pxOverflowDelayedCoRoutineList = pxTemp;
-		}
-
-		/* See if this tick has made a timeout expire. */
-		while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL )
-		{	
-			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )				
-			{			
-				/* Timeout not yet expired. */																			
-				break;																				
-			}																						
-
-			portDISABLE_INTERRUPTS();
-			{
-				/* The event could have occurred just before this critical
-				section.  If this is the case then the generic list item will
-				have been moved to the pending ready list and the following
-				line is still valid.  Also the pvContainer parameter will have
-				been set to NULL so the following lines are also valid. */
-				vListRemove( &( pxCRCB->xGenericListItem ) );											
-
-				/* Is the co-routine waiting on an event also? */												
-				if( pxCRCB->xEventListItem.pvContainer )													
-				{															
-					vListRemove( &( pxCRCB->xEventListItem ) );											
-				}
-			}
-			portENABLE_INTERRUPTS();
-
-			prvAddCoRoutineToReadyQueue( pxCRCB );													
-		}																									
-	}
-
-	xLastTickCount = xCoRoutineTickCount;
-}
-/*-----------------------------------------------------------*/
-
-void vCoRoutineSchedule( void )
-{
-	/* See if any co-routines readied by events need moving to the ready lists. */
-	prvCheckPendingReadyList();
-
-	/* See if any delayed co-routines have timed out. */
-	prvCheckDelayedList();
-
-	/* Find the highest priority queue that contains ready co-routines. */
-	while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
-	{
-		if( uxTopCoRoutineReadyPriority == 0 )
-		{
-			/* No more co-routines to check. */
-			return;
-		}
-		--uxTopCoRoutineReadyPriority;
-	}
-
-	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
-	 of the	same priority get an equal share of the processor time. */
-	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
-
-	/* Call the co-routine. */
-	( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
-
-	return;
-}
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseCoRoutineLists( void )
-{
-unsigned portBASE_TYPE uxPriority;
-
-	for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
-	{
-		vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
-	}
-
-	vListInitialise( ( xList * ) &xDelayedCoRoutineList1 );
-	vListInitialise( ( xList * ) &xDelayedCoRoutineList2 );
-	vListInitialise( ( xList * ) &xPendingReadyCoRoutineList );
-
-	/* Start with pxDelayedCoRoutineList using list1 and the
-	pxOverflowDelayedCoRoutineList using list2. */
-	pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
-	pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList )
-{
-corCRCB *pxUnblockedCRCB;
-signed portBASE_TYPE xReturn;
-
-	/* This function is called from within an interrupt.  It can only access
-	event lists and the pending ready list. */
-	pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
-	vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
-	vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
-
-	if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
-
-	return xReturn;
-}
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h
deleted file mode 100644
index ee02592ae..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h
+++ /dev/null
@@ -1,420 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef INC_FREERTOS_H
-#define INC_FREERTOS_H
-
-
-/*
- * Include the generic headers required for the FreeRTOS port being used.
- */
-#include <stddef.h>
-
-/* Basic FreeRTOS definitions. */
-#include "projdefs.h"
-
-/* Application specific configuration options. */
-#include "FreeRTOSConfig.h"
-
-/* Definitions specific to the port being used. */
-#include "portable.h"
-
-
-/* Defines the prototype to which the application task hook function must
-conform. */
-typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
-
-
-
-
-
-/*
- * Check all the required application specific macros have been defined.
- * These macros are application specific and (as downloaded) are defined
- * within FreeRTOSConfig.h.
- */
-
-#ifndef configUSE_PREEMPTION
-	#error Missing definition:  configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_IDLE_HOOK
-	#error Missing definition:  configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_TICK_HOOK
-	#error Missing definition:  configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_CO_ROUTINES
-	#error  Missing definition:  configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskPrioritySet
-	#error Missing definition:  INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_uxTaskPriorityGet
-	#error Missing definition:  INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelete		
-	#error Missing definition:  INCLUDE_vTaskDelete		 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskCleanUpResources
-	#error Missing definition:  INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskSuspend	
-	#error Missing definition:  INCLUDE_vTaskSuspend	 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelayUntil
-	#error Missing definition:  INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelay
-	#error Missing definition:  INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_16_BIT_TICKS
-	#error Missing definition:  configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_APPLICATION_TASK_TAG
-	#define configUSE_APPLICATION_TASK_TAG 0
-#endif
-
-#ifndef INCLUDE_uxTaskGetStackHighWaterMark
-	#define INCLUDE_uxTaskGetStackHighWaterMark 0
-#endif
-
-#ifndef configUSE_RECURSIVE_MUTEXES
-	#define configUSE_RECURSIVE_MUTEXES 0
-#endif
-
-#ifndef configUSE_MUTEXES
-	#define configUSE_MUTEXES 0
-#endif
-
-#ifndef configUSE_COUNTING_SEMAPHORES
-	#define configUSE_COUNTING_SEMAPHORES 0
-#endif
-
-#ifndef configUSE_ALTERNATIVE_API
-	#define configUSE_ALTERNATIVE_API 0
-#endif
-
-#ifndef portCRITICAL_NESTING_IN_TCB
-	#define portCRITICAL_NESTING_IN_TCB 0
-#endif
-
-#ifndef configMAX_TASK_NAME_LEN
-	#define configMAX_TASK_NAME_LEN 16
-#endif
-
-#ifndef configIDLE_SHOULD_YIELD
-	#define configIDLE_SHOULD_YIELD		1
-#endif
-
-#if configMAX_TASK_NAME_LEN < 1
-	#undef configMAX_TASK_NAME_LEN
-	#define configMAX_TASK_NAME_LEN 1
-#endif
-
-#ifndef INCLUDE_xTaskResumeFromISR
-	#define INCLUDE_xTaskResumeFromISR 1
-#endif
-
-#ifndef INCLUDE_xTaskGetSchedulerState
-	#define INCLUDE_xTaskGetSchedulerState 0
-#endif
-
-#if ( configUSE_MUTEXES == 1 )
-	/* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism
-	within the mutex implementation so must be available if mutexes are used. */
-	#undef INCLUDE_xTaskGetCurrentTaskHandle
-	#define INCLUDE_xTaskGetCurrentTaskHandle 1
-#else
-	#ifndef INCLUDE_xTaskGetCurrentTaskHandle
-		#define INCLUDE_xTaskGetCurrentTaskHandle 0
-	#endif
-#endif
-
-
-#ifndef portSET_INTERRUPT_MASK_FROM_ISR
-	#define portSET_INTERRUPT_MASK_FROM_ISR() 0
-#endif
-
-#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
-	#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
-#endif
-
-
-#ifndef configQUEUE_REGISTRY_SIZE
-	#define configQUEUE_REGISTRY_SIZE 0
-#endif
-
-#if configQUEUE_REGISTRY_SIZE < 1
-	#define configQUEUE_REGISTRY_SIZE 0
-	#define vQueueAddToRegistry( xQueue, pcName )
-	#define vQueueUnregisterQueue( xQueue )
-#endif
-
-
-/* Remove any unused trace macros. */
-#ifndef traceSTART
-	/* Used to perform any necessary initialisation - for example, open a file
-	into which trace is to be written. */
-	#define traceSTART()
-#endif
-
-#ifndef traceEND
-	/* Use to close a trace, for example close a file into which trace has been
-	written. */
-	#define traceEND()
-#endif
-
-#ifndef traceTASK_SWITCHED_IN
-	/* Called after a task has been selected to run.  pxCurrentTCB holds a pointer
-	to the task control block of the selected task. */
-	#define traceTASK_SWITCHED_IN()
-#endif
-
-#ifndef traceTASK_SWITCHED_OUT
-	/* Called before a task has been selected to run.  pxCurrentTCB holds a pointer
-	to the task control block of the task being switched out. */
-	#define traceTASK_SWITCHED_OUT()
-#endif
-
-#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
-	/* Task is about to block because it cannot read from a 
-	queue/mutex/semaphore.  pxQueue is a pointer to the queue/mutex/semaphore
-	upon which the read was attempted.  pxCurrentTCB points to the TCB of the 
-	task that attempted the read. */
-	#define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
-#endif
-
-#ifndef traceBLOCKING_ON_QUEUE_SEND
-	/* Task is about to block because it cannot write to a 
-	queue/mutex/semaphore.  pxQueue is a pointer to the queue/mutex/semaphore
-	upon which the write was attempted.  pxCurrentTCB points to the TCB of the 
-	task that attempted the write. */
-	#define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
-#endif
-
-#ifndef configCHECK_FOR_STACK_OVERFLOW
-	#define configCHECK_FOR_STACK_OVERFLOW 0
-#endif
-
-/* The following event macros are embedded in the kernel API calls. */
-
-#ifndef traceQUEUE_CREATE	
-	#define traceQUEUE_CREATE( pxNewQueue )
-#endif
-
-#ifndef traceQUEUE_CREATE_FAILED
-	#define traceQUEUE_CREATE_FAILED()
-#endif
-
-#ifndef traceCREATE_MUTEX
-	#define traceCREATE_MUTEX( pxNewQueue )
-#endif
-
-#ifndef traceCREATE_MUTEX_FAILED
-	#define traceCREATE_MUTEX_FAILED()
-#endif
-
-#ifndef traceGIVE_MUTEX_RECURSIVE
-	#define traceGIVE_MUTEX_RECURSIVE( pxMutex )
-#endif
-
-#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
-	#define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
-#endif
-
-#ifndef traceTAKE_MUTEX_RECURSIVE
-	#define traceTAKE_MUTEX_RECURSIVE( pxMutex )
-#endif
-
-#ifndef traceCREATE_COUNTING_SEMAPHORE
-	#define traceCREATE_COUNTING_SEMAPHORE()
-#endif
-
-#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
-	#define traceCREATE_COUNTING_SEMAPHORE_FAILED()
-#endif
-
-#ifndef traceQUEUE_SEND
-	#define traceQUEUE_SEND( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FAILED
-	#define traceQUEUE_SEND_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE
-	#define traceQUEUE_RECEIVE( pxQueue )
-#endif
-
-#ifndef traceQUEUE_PEEK
-	#define traceQUEUE_PEEK( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FAILED
-	#define traceQUEUE_RECEIVE_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FROM_ISR
-	#define traceQUEUE_SEND_FROM_ISR( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
-	#define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FROM_ISR
-	#define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
-	#define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_DELETE
-	#define traceQUEUE_DELETE( pxQueue )
-#endif
-
-#ifndef traceTASK_CREATE
-	#define traceTASK_CREATE( pxNewTCB )
-#endif
-
-#ifndef traceTASK_CREATE_FAILED
-	#define traceTASK_CREATE_FAILED( pxNewTCB )
-#endif
-
-#ifndef traceTASK_DELETE
-	#define traceTASK_DELETE( pxTaskToDelete )
-#endif
-
-#ifndef traceTASK_DELAY_UNTIL
-	#define traceTASK_DELAY_UNTIL()
-#endif
-
-#ifndef traceTASK_DELAY
-	#define traceTASK_DELAY()
-#endif
-
-#ifndef traceTASK_PRIORITY_SET
-	#define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
-#endif
-
-#ifndef traceTASK_SUSPEND
-	#define traceTASK_SUSPEND( pxTaskToSuspend )
-#endif
-
-#ifndef traceTASK_RESUME
-	#define traceTASK_RESUME( pxTaskToResume )
-#endif
-
-#ifndef traceTASK_RESUME_FROM_ISR
-	#define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
-#endif
-
-#ifndef traceTASK_INCREMENT_TICK
-	#define traceTASK_INCREMENT_TICK( xTickCount )
-#endif
-
-#ifndef configGENERATE_RUN_TIME_STATS
-	#define configGENERATE_RUN_TIME_STATS 0
-#endif
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
-		#error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined.  portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
-	#endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */
-
-	#ifndef portGET_RUN_TIME_COUNTER_VALUE
-		#error If configGENERATE_RUN_TIME_STATS is defined then portGET_RUN_TIME_COUNTER_VALUE must also be defined.  portGET_RUN_TIME_COUNTER_VALUE should evaluate to the counter value of the timer/counter peripheral used as the run time counter time base.
-	#endif /* portGET_RUN_TIME_COUNTER_VALUE */
-
-#endif /* configGENERATE_RUN_TIME_STATS */
-
-#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
-	#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
-#endif
-
-#ifndef configUSE_MALLOC_FAILED_HOOK
-	#define configUSE_MALLOC_FAILED_HOOK 0
-#endif
-
-#ifndef portPRIVILEGE_BIT
-	#define portPRIVILEGE_BIT ( ( unsigned portBASE_TYPE ) 0x00 )
-#endif
-
-#ifndef portYIELD_WITHIN_API
-	#define portYIELD_WITHIN_API portYIELD
-#endif
-
-#ifndef pvPortMallocAligned
-	#define pvPortMallocAligned( x, puxStackBuffer ) ( ( puxStackBuffer == NULL ) ? ( pvPortMalloc( x ) ) : ( puxStackBuffer ) )
-#endif
-
-#ifndef vPortFreeAligned
-	#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
-#endif
-
-#endif /* INC_FREERTOS_H */
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/StackMacros.h
deleted file mode 100644
index a7514d790..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/StackMacros.h
+++ /dev/null
@@ -1,173 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef STACK_MACROS_H
-#define STACK_MACROS_H
-
-/*
- * Call the stack overflow hook function if the stack of the task being swapped
- * out is currently overflowed, or looks like it might have overflowed in the
- * past.
- *
- * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
- * the current stack state only - comparing the current top of stack value to
- * the stack limit.  Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
- * will also cause the last few stack bytes to be checked to ensure the value
- * to which the bytes were set when the task was created have not been 
- * overwritten.  Note this second test does not guarantee that an overflowed
- * stack will always be recognised.
- */
-
-/*-----------------------------------------------------------*/
-
-#if( configCHECK_FOR_STACK_OVERFLOW == 0 )
-
-	/* FreeRTOSConfig.h is not set to check for stack overflows. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
-/*-----------------------------------------------------------*/
-
-#if( configCHECK_FOR_STACK_OVERFLOW == 1 )
-
-	/* FreeRTOSConfig.h is only set to use the first method of
-	overflow checking. */
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) )
-
-	/* Only the current stack state is to be checked. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()														\
-	{																									\
-	extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );			\
-																										\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )										\
-		{																								\
-			vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) )
-
-	/* Only the current stack state is to be checked. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()														\
-	{																									\
-	extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );		\
-																										\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack )									\
-		{																								\
-			vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
-
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()																									\
-	{																																				\
-	extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );													\
-	static const unsigned char ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																					\
-																																					\
-		/* Has the extremity of the task stack ever been written over? */																			\
-		if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )						\
-		{																																			\
-			vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );												\
-		}																																			\
-	}
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
-
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()																									\
-	{																																				\
-	extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );													\
-	char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack;																				\
-	static const unsigned char ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-																tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																					\
-																																					\
-		pcEndOfStack -= sizeof( ucExpectedStackBytes );																								\
-																																					\
-		/* Has the extremity of the task stack ever been written over? */																			\
-		if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )								\
-		{																																			\
-			vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );												\
-		}																																			\
-	}
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-#endif /* STACK_MACROS_H */
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/croutine.h
deleted file mode 100644
index c189a1e87..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/croutine.h
+++ /dev/null
@@ -1,749 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include croutine.h"
-#endif
-
-
-
-
-#ifndef CO_ROUTINE_H
-#define CO_ROUTINE_H
-
-#include "list.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Used to hide the implementation of the co-routine control block.  The
-control block structure however has to be included in the header due to
-the macro implementation of the co-routine functionality. */
-typedef void * xCoRoutineHandle;
-
-/* Defines the prototype to which co-routine functions must conform. */
-typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE );
-
-typedef struct corCoRoutineControlBlock
-{
-	crCOROUTINE_CODE 		pxCoRoutineFunction;
-	xListItem				xGenericListItem;	/*< List item used to place the CRCB in ready and blocked queues. */
-	xListItem				xEventListItem;		/*< List item used to place the CRCB in event lists. */
-	unsigned portBASE_TYPE 	uxPriority;			/*< The priority of the co-routine in relation to other co-routines. */
-	unsigned portBASE_TYPE 	uxIndex;			/*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
-	unsigned short 		uxState;			/*< Used internally by the co-routine implementation. */
-} corCRCB; /* Co-routine control block.  Note must be identical in size down to uxPriority with tskTCB. */
-
-/**
- * croutine. h
- *<pre>
- portBASE_TYPE xCoRoutineCreate(
-                                 crCOROUTINE_CODE pxCoRoutineCode,
-                                 unsigned portBASE_TYPE uxPriority,
-                                 unsigned portBASE_TYPE uxIndex
-                               );</pre>
- *
- * Create a new co-routine and add it to the list of co-routines that are
- * ready to run.
- *
- * @param pxCoRoutineCode Pointer to the co-routine function.  Co-routine
- * functions require special syntax - see the co-routine section of the WEB
- * documentation for more information.
- *
- * @param uxPriority The priority with respect to other co-routines at which
- *  the co-routine will run.
- *
- * @param uxIndex Used to distinguish between different co-routines that
- * execute the same function.  See the example below and the co-routine section
- * of the WEB documentation for further information.
- *
- * @return pdPASS if the co-routine was successfully created and added to a ready
- * list, otherwise an error code defined with ProjDefs.h.
- *
- * Example usage:
-   <pre>
- // Co-routine to be created.
- void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // This co-routine just delays for a fixed period, then toggles
-         // an LED.  Two co-routines are created using this function, so
-         // the uxIndex parameter is used to tell the co-routine which
-         // LED to flash and how long to delay.  This assumes xQueue has
-         // already been created.
-         vParTestToggleLED( cLedToFlash[ uxIndex ] );
-         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
-
- // Function that creates two co-routines.
- void vOtherFunction( void )
- {
- unsigned char ucParameterToPass;
- xTaskHandle xHandle;
-		
-     // Create two co-routines at priority 0.  The first is given index 0
-     // so (from the code above) toggles LED 5 every 200 ticks.  The second
-     // is given index 1 so toggles LED 6 every 400 ticks.
-     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
-     {
-         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
-     }
- }
-   </pre>
- * \defgroup xCoRoutineCreate xCoRoutineCreate
- * \ingroup Tasks
- */
-signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex );
-
-
-/**
- * croutine. h
- *<pre>
- void vCoRoutineSchedule( void );</pre>
- *
- * Run a co-routine.
- *
- * vCoRoutineSchedule() executes the highest priority co-routine that is able
- * to run.  The co-routine will execute until it either blocks, yields or is
- * preempted by a task.  Co-routines execute cooperatively so one
- * co-routine cannot be preempted by another, but can be preempted by a task.
- *
- * If an application comprises of both tasks and co-routines then
- * vCoRoutineSchedule should be called from the idle task (in an idle task
- * hook).
- *
- * Example usage:
-   <pre>
- // This idle task hook will schedule a co-routine each time it is called.
- // The rest of the idle task will execute between co-routine calls.
- void vApplicationIdleHook( void )
- {
-	vCoRoutineSchedule();
- }
-
- // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineScheduler() within an
- // infinite loop.
- void vApplicationIdleHook( void )
- {
-    for( ;; )
-    {
-        vCoRoutineSchedule();
-    }
- }
- </pre>
- * \defgroup vCoRoutineSchedule vCoRoutineSchedule
- * \ingroup Tasks
- */
-void vCoRoutineSchedule( void );
-
-/**
- * croutine. h
- * <pre>
- crSTART( xCoRoutineHandle xHandle );</pre>
- *
- * This macro MUST always be called at the start of a co-routine function.
- *
- * Example usage:
-   <pre>
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static long ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }</pre>
- * \defgroup crSTART crSTART
- * \ingroup Tasks
- */
-#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0:
-
-/**
- * croutine. h
- * <pre>
- crEND();</pre>
- *
- * This macro MUST always be called at the end of a co-routine function.
- *
- * Example usage:
-   <pre>
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static long ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }</pre>
- * \defgroup crSTART crSTART
- * \ingroup Tasks
- */
-#define crEND() }
-
-/*
- * These macros are intended for internal use by the co-routine implementation
- * only.  The macros should not be used directly by application writers.
- */
-#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
-#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
-
-/**
- * croutine. h
- *<pre>
- crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );</pre>
- *
- * Delay a co-routine for a fixed period of time.
- *
- * crDELAY can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function.  This is because
- * co-routines do not maintain their own stack.
- *
- * @param xHandle The handle of the co-routine to delay.  This is the xHandle
- * parameter of the co-routine function.
- *
- * @param xTickToDelay The number of ticks that the co-routine should delay
- * for.  The actual amount of time this equates to is defined by
- * configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant portTICK_RATE_MS
- * can be used to convert ticks to milliseconds.
- *
- * Example usage:
-   <pre>
- // Co-routine to be created.
- void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- // We are to delay for 200ms.
- static const xTickType xDelayTime = 200 / portTICK_RATE_MS;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-        // Delay for 200ms.
-        crDELAY( xHandle, xDelayTime );
-
-        // Do something here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }</pre>
- * \defgroup crDELAY crDELAY
- * \ingroup Tasks
- */
-#define crDELAY( xHandle, xTicksToDelay )												\
-	if( xTicksToDelay > 0 )																\
-	{																					\
-		vCoRoutineAddToDelayedList( xTicksToDelay, NULL );								\
-	}																					\
-	crSET_STATE0( xHandle );
-
-/**
- * <pre>
- crQUEUE_SEND(
-                  xCoRoutineHandle xHandle,
-                  xQueueHandle pxQueue,
-                  void *pvItemToQueue,
-                  portTickType xTicksToWait,
-                  portBASE_TYPE *pxResult
-             )</pre>
- *
- * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
- * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
- *
- * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
- * xQueueSend() and xQueueReceive() can only be used from tasks.
- *
- * crQUEUE_SEND can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function.  This is because
- * co-routines do not maintain their own stack.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xHandle The handle of the calling co-routine.  This is the xHandle
- * parameter of the co-routine function.
- *
- * @param pxQueue The handle of the queue on which the data will be posted.
- * The handle is obtained as the return value when the queue is created using
- * the xQueueCreate() API function.
- *
- * @param pvItemToQueue A pointer to the data being posted onto the queue.
- * The number of bytes of each queued item is specified when the queue is
- * created.  This number of bytes is copied from pvItemToQueue into the queue
- * itself.
- *
- * @param xTickToDelay The number of ticks that the co-routine should block
- * to wait for space to become available on the queue, should space not be
- * available immediately. The actual amount of time this equates to is defined
- * by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
- * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example
- * below).
- *
- * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
- * data was successfully posted onto the queue, otherwise it will be set to an
- * error defined within ProjDefs.h.
- *
- * Example usage:
-   <pre>
- // Co-routine function that blocks for a fixed period then posts a number onto
- // a queue.
- static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portBASE_TYPE xNumberToPost = 0;
- static portBASE_TYPE xResult;
-
-    // Co-routines must begin with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // This assumes the queue has already been created.
-        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
-
-        if( xResult != pdPASS )
-        {
-            // The message was not posted!
-        }
-
-        // Increment the number to be posted onto the queue.
-        xNumberToPost++;
-
-        // Delay for 100 ticks.
-        crDELAY( xHandle, 100 );
-    }
-
-    // Co-routines must end with a call to crEND().
-    crEND();
- }</pre>
- * \defgroup crQUEUE_SEND crQUEUE_SEND
- * \ingroup Tasks
- */
-#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult )			\
-{																						\
-	*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait );					\
-	if( *pxResult == errQUEUE_BLOCKED )													\
-	{																					\
-		crSET_STATE0( xHandle );														\
-		*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 );							\
-	}																					\
-	if( *pxResult == errQUEUE_YIELD )													\
-	{																					\
-		crSET_STATE1( xHandle );														\
-		*pxResult = pdPASS;																\
-	}																					\
-}
-
-/**
- * croutine. h
- * <pre>
-  crQUEUE_RECEIVE(
-                     xCoRoutineHandle xHandle,
-                     xQueueHandle pxQueue,
-                     void *pvBuffer,
-                     portTickType xTicksToWait,
-                     portBASE_TYPE *pxResult
-                 )</pre>
- *
- * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
- * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
- *
- * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
- * xQueueSend() and xQueueReceive() can only be used from tasks.
- *
- * crQUEUE_RECEIVE can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function.  This is because
- * co-routines do not maintain their own stack.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xHandle The handle of the calling co-routine.  This is the xHandle
- * parameter of the co-routine function.
- *
- * @param pxQueue The handle of the queue from which the data will be received.
- * The handle is obtained as the return value when the queue is created using
- * the xQueueCreate() API function.
- *
- * @param pvBuffer The buffer into which the received item is to be copied.
- * The number of bytes of each queued item is specified when the queue is
- * created.  This number of bytes is copied into pvBuffer.
- *
- * @param xTickToDelay The number of ticks that the co-routine should block
- * to wait for data to become available from the queue, should data not be
- * available immediately. The actual amount of time this equates to is defined
- * by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
- * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the
- * crQUEUE_SEND example).
- *
- * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
- * data was successfully retrieved from the queue, otherwise it will be set to
- * an error code as defined within ProjDefs.h.
- *
- * Example usage:
- <pre>
- // A co-routine receives the number of an LED to flash from a queue.  It
- // blocks on the queue until the number is received.
- static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static portBASE_TYPE xResult;
- static unsigned portBASE_TYPE uxLEDToFlash;
-
-    // All co-routines must start with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // Wait for data to become available on the queue.
-        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-        if( xResult == pdPASS )
-        {
-            // We received the LED to flash - flash it!
-            vParTestToggleLED( uxLEDToFlash );
-        }
-    }
-
-    crEND();
- }</pre>
- * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
- * \ingroup Tasks
- */
-#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult )			\
-{																						\
-	*pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait );						\
-	if( *pxResult == errQUEUE_BLOCKED ) 												\
-	{																					\
-		crSET_STATE0( xHandle );														\
-		*pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 );							\
-	}																					\
-	if( *pxResult == errQUEUE_YIELD )													\
-	{																					\
-		crSET_STATE1( xHandle );														\
-		*pxResult = pdPASS;																\
-	}																					\
-}
-
-/**
- * croutine. h
- * <pre>
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvItemToQueue,
-                            portBASE_TYPE xCoRoutinePreviouslyWoken
-                       )</pre>
- *
- * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
- * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
- * functions used by tasks.
- *
- * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
- * xQueueReceiveFromISR() can only be used to pass data between a task and and
- * ISR.
- *
- * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
- * that is being used from within a co-routine.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
- * the same queue multiple times from a single interrupt.  The first call
- * should always pass in pdFALSE.  Subsequent calls should pass in
- * the value returned from the previous call.
- *
- * @return pdTRUE if a co-routine was woken by posting onto the queue.  This is
- * used by the ISR to determine if a context switch may be required following
- * the ISR.
- *
- * Example usage:
- <pre>
- // A co-routine that blocks on a queue waiting for characters to be received.
- static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- char cRxedChar;
- portBASE_TYPE xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Wait for data to become available on the queue.  This assumes the
-         // queue xCommsRxQueue has already been created!
-         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-         // Was a character received?
-         if( xResult == pdPASS )
-         {
-             // Process the character here.
-         }
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to send characters received on a serial port to
- // a co-routine.
- void vUART_ISR( void )
- {
- char cRxedChar;
- portBASE_TYPE xCRWokenByPost = pdFALSE;
-
-     // We loop around reading characters until there are none left in the UART.
-     while( UART_RX_REG_NOT_EMPTY() )
-     {
-         // Obtain the character from the UART.
-         cRxedChar = UART_RX_REG;
-
-         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
-         // the first time around the loop.  If the post causes a co-routine
-         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
-         // In this manner we can ensure that if more than one co-routine is
-         // blocked on the queue only one is woken by this ISR no matter how
-         // many characters are posted to the queue.
-         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
-     }
- }</pre>
- * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
- * \ingroup Tasks
- */
-#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken )
-
-
-/**
- * croutine. h
- * <pre>
-  crQUEUE_SEND_FROM_ISR(
-                            xQueueHandle pxQueue,
-                            void *pvBuffer,
-                            portBASE_TYPE * pxCoRoutineWoken
-                       )</pre>
- *
- * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
- * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
- * functions used by tasks.
- *
- * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
- * xQueueReceiveFromISR() can only be used to pass data between a task and and
- * ISR.
- *
- * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
- * from a queue that is being used from within a co-routine (a co-routine
- * posted to the queue).
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvBuffer A pointer to a buffer into which the received item will be
- * placed.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from the queue into
- * pvBuffer.
- *
- * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
- * available on the queue.  If crQUEUE_RECEIVE_FROM_ISR causes such a
- * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
- * *pxCoRoutineWoken will remain unchanged.
- *
- * @return pdTRUE an item was successfully received from the queue, otherwise
- * pdFALSE.
- *
- * Example usage:
- <pre>
- // A co-routine that posts a character to a queue then blocks for a fixed
- // period.  The character is incremented each time.
- static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
- {
- // cChar holds its value while this co-routine is blocked and must therefore
- // be declared static.
- static char cCharToTx = 'a';
- portBASE_TYPE xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Send the next character to the queue.
-         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
-
-         if( xResult == pdPASS )
-         {
-             // The character was successfully posted to the queue.
-         }
-		 else
-		 {
-			// Could not post the character to the queue.
-		 }
-
-         // Enable the UART Tx interrupt to cause an interrupt in this
-		 // hypothetical UART.  The interrupt will obtain the character
-		 // from the queue and send it.
-		 ENABLE_RX_INTERRUPT();
-
-		 // Increment to the next character then block for a fixed period.
-		 // cCharToTx will maintain its value across the delay as it is
-		 // declared static.
-		 cCharToTx++;
-		 if( cCharToTx > 'x' )
-		 {
-			cCharToTx = 'a';
-		 }
-		 crDELAY( 100 );
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to receive characters to send on a UART.
- void vUART_ISR( void )
- {
- char cCharToTx;
- portBASE_TYPE xCRWokenByPost = pdFALSE;
-
-     while( UART_TX_REG_EMPTY() )
-     {
-         // Are there any characters in the queue waiting to be sent?
-		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
-		 // is woken by the post - ensuring that only a single co-routine is
-		 // woken no matter how many times we go around this loop.
-         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
-		 {
-			 SEND_CHARACTER( cCharToTx );
-		 }
-     }
- }</pre>
- * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
- * \ingroup Tasks
- */
-#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken )
-
-/*
- * This function is intended for internal use by the co-routine macros only.
- * The macro nature of the co-routine implementation requires that the
- * prototype appears here.  The function should not be used by application
- * writers.
- *
- * Removes the current co-routine from its ready list and places it in the
- * appropriate delayed list.
- */
-void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList );
-
-/*
- * This function is intended for internal use by the queue implementation only.
- * The function should not be used by application writers.
- *
- * Removes the highest priority co-routine from the event list and places it in
- * the pending ready list.
- */
-signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* CO_ROUTINE_H */
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/list.h
deleted file mode 100644
index 65712836e..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/list.h
+++ /dev/null
@@ -1,305 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-/*
- * This is the list implementation used by the scheduler.  While it is tailored
- * heavily for the schedulers needs, it is also available for use by
- * application code.
- *
- * xLists can only store pointers to xListItems.  Each xListItem contains a
- * numeric value (xItemValue).  Most of the time the lists are sorted in
- * descending item value order.
- *
- * Lists are created already containing one list item.  The value of this
- * item is the maximum possible that can be stored, it is therefore always at
- * the end of the list and acts as a marker.  The list member pxHead always
- * points to this marker - even though it is at the tail of the list.  This
- * is because the tail contains a wrap back pointer to the true head of
- * the list.
- *
- * In addition to it's value, each list item contains a pointer to the next
- * item in the list (pxNext), a pointer to the list it is in (pxContainer)
- * and a pointer to back to the object that contains it.  These later two
- * pointers are included for efficiency of list manipulation.  There is
- * effectively a two way link between the object containing the list item and
- * the list item itself.
- *
- *
- * \page ListIntroduction List Implementation
- * \ingroup FreeRTOSIntro
- */
-
-/*
-	Changes from V4.3.1
-
-	+ Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist
-	  compiler with optimisation.  Thanks B.R.
-*/
-
-#ifndef LIST_H
-#define LIST_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-/*
- * Definition of the only type of object that a list can contain.
- */
-struct xLIST_ITEM
-{
-	portTickType xItemValue;				/*< The value being listed.  In most cases this is used to sort the list in descending order. */
-	volatile struct xLIST_ITEM * pxNext;	/*< Pointer to the next xListItem in the list. */
-	volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */
-	void * pvOwner;							/*< Pointer to the object (normally a TCB) that contains the list item.  There is therefore a two way link between the object containing the list item and the list item itself. */
-	void * pvContainer;						/*< Pointer to the list in which this list item is placed (if any). */
-};
-typedef struct xLIST_ITEM xListItem;		/* For some reason lint wants this as two separate definitions. */
-
-struct xMINI_LIST_ITEM
-{
-	portTickType xItemValue;
-	volatile struct xLIST_ITEM *pxNext;
-	volatile struct xLIST_ITEM *pxPrevious;
-};
-typedef struct xMINI_LIST_ITEM xMiniListItem;
-
-/*
- * Definition of the type of queue used by the scheduler.
- */
-typedef struct xLIST
-{
-	volatile unsigned portBASE_TYPE uxNumberOfItems;
-	volatile xListItem * pxIndex;			/*< Used to walk through the list.  Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */
-	volatile xMiniListItem xListEnd;		/*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
-} xList;
-
-/*
- * Access macro to set the owner of a list item.  The owner of a list item
- * is the object (usually a TCB) that contains the list item.
- *
- * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
- * \ingroup LinkedList
- */
-#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner )		( pxListItem )->pvOwner = ( void * ) pxOwner
-
-/*
- * Access macro to set the value of the list item.  In most cases the value is
- * used to sort the list in descending order.
- *
- * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
- * \ingroup LinkedList
- */
-#define listSET_LIST_ITEM_VALUE( pxListItem, xValue )		( pxListItem )->xItemValue = xValue
-
-/*
- * Access macro the retrieve the value of the list item.  The value can
- * represent anything - for example a the priority of a task, or the time at
- * which a task should be unblocked.
- *
- * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
- * \ingroup LinkedList
- */
-#define listGET_LIST_ITEM_VALUE( pxListItem )				( ( pxListItem )->xItemValue )
-
-/*
- * Access macro to determine if a list contains any items.  The macro will
- * only have the value true if the list is empty.
- *
- * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
- * \ingroup LinkedList
- */
-#define listLIST_IS_EMPTY( pxList )				( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 )
-
-/*
- * Access macro to return the number of items in the list.
- */
-#define listCURRENT_LIST_LENGTH( pxList )		( ( pxList )->uxNumberOfItems )
-
-/*
- * Access function to obtain the owner of the next entry in a list.
- *
- * The list member pxIndex is used to walk through a list.  Calling
- * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
- * and returns that entries pxOwner parameter.  Using multiple calls to this
- * function it is therefore possible to move through every item contained in
- * a list.
- *
- * The pxOwner parameter of a list item is a pointer to the object that owns
- * the list item.  In the scheduler this is normally a task control block.
- * The pxOwner parameter effectively creates a two way link between the list
- * item and its owner.
- *
- * @param pxList The list from which the next item owner is to be returned.
- *
- * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
- * \ingroup LinkedList
- */
-#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )									\
-{																						\
-xList * const pxConstList = pxList;														\
-	/* Increment the index to the next item and return the item, ensuring */			\
-	/* we don't return the marker used at the end of the list.  */						\
-	( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;						\
-	if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) )	\
-	{																					\
-		( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;					\
-	}																					\
-	pxTCB = ( pxConstList )->pxIndex->pvOwner;											\
-}
-
-
-/*
- * Access function to obtain the owner of the first entry in a list.  Lists
- * are normally sorted in ascending item value order.
- *
- * This function returns the pxOwner member of the first item in the list.
- * The pxOwner parameter of a list item is a pointer to the object that owns
- * the list item.  In the scheduler this is normally a task control block.
- * The pxOwner parameter effectively creates a two way link between the list
- * item and its owner.
- *
- * @param pxList The list from which the owner of the head item is to be
- * returned.
- *
- * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
- * \ingroup LinkedList
- */
-#define listGET_OWNER_OF_HEAD_ENTRY( pxList )  ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) )
-
-/*
- * Check to see if a list item is within a list.  The list item maintains a
- * "container" pointer that points to the list it is in.  All this macro does
- * is check to see if the container and the list match.
- *
- * @param pxList The list we want to know if the list item is within.
- * @param pxListItem The list item we want to know if is in the list.
- * @return pdTRUE is the list item is in the list, otherwise pdFALSE.
- * pointer against
- */
-#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList )
-
-/*
- * Must be called before a list is used!  This initialises all the members
- * of the list structure and inserts the xListEnd item into the list as a
- * marker to the back of the list.
- *
- * @param pxList Pointer to the list being initialised.
- *
- * \page vListInitialise vListInitialise
- * \ingroup LinkedList
- */
-void vListInitialise( xList *pxList );
-
-/*
- * Must be called before a list item is used.  This sets the list container to
- * null so the item does not think that it is already contained in a list.
- *
- * @param pxItem Pointer to the list item being initialised.
- *
- * \page vListInitialiseItem vListInitialiseItem
- * \ingroup LinkedList
- */
-void vListInitialiseItem( xListItem *pxItem );
-
-/*
- * Insert a list item into a list.  The item will be inserted into the list in
- * a position determined by its item value (descending item value order).
- *
- * @param pxList The list into which the item is to be inserted.
- *
- * @param pxNewListItem The item to that is to be placed in the list.
- *
- * \page vListInsert vListInsert
- * \ingroup LinkedList
- */
-void vListInsert( xList *pxList, xListItem *pxNewListItem );
-
-/*
- * Insert a list item into a list.  The item will be inserted in a position
- * such that it will be the last item within the list returned by multiple
- * calls to listGET_OWNER_OF_NEXT_ENTRY.
- *
- * The list member pvIndex is used to walk through a list.  Calling
- * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list.
- * Placing an item in a list using vListInsertEnd effectively places the item
- * in the list position pointed to by pvIndex.  This means that every other
- * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
- * the pvIndex parameter again points to the item being inserted.
- *
- * @param pxList The list into which the item is to be inserted.
- *
- * @param pxNewListItem The list item to be inserted into the list.
- *
- * \page vListInsertEnd vListInsertEnd
- * \ingroup LinkedList
- */
-void vListInsertEnd( xList *pxList, xListItem *pxNewListItem );
-
-/*
- * Remove an item from a list.  The list item has a pointer to the list that
- * it is in, so only the list item need be passed into the function.
- *
- * @param vListRemove The item to be removed.  The item will remove itself from
- * the list pointed to by it's pxContainer parameter.
- *
- * \page vListRemove vListRemove
- * \ingroup LinkedList
- */
-void vListRemove( xListItem *pxItemToRemove );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
deleted file mode 100644
index e197d5085..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef MPU_WRAPPERS_H
-#define MPU_WRAPPERS_H
-
-/* This file redefines API functions to be called through a wrapper macro, but
-only for ports that are using the MPU. */
-#ifdef portUSING_MPU_WRAPPERS
-
-	/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
-	included from queue.c or task.c to prevent it from having an effect within
-	those files. */
-	#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-		#define xTaskGenericCreate				MPU_xTaskGenericCreate
-		#define vTaskAllocateMPURegions			MPU_vTaskAllocateMPURegions
-		#define vTaskDelete						MPU_vTaskDelete
-		#define vTaskDelayUntil					MPU_vTaskDelayUntil
-		#define vTaskDelay						MPU_vTaskDelay
-		#define uxTaskPriorityGet				MPU_uxTaskPriorityGet
-		#define vTaskPrioritySet				MPU_vTaskPrioritySet
-		#define vTaskSuspend					MPU_vTaskSuspend
-		#define xTaskIsTaskSuspended			MPU_xTaskIsTaskSuspended
-		#define vTaskResume						MPU_vTaskResume
-		#define vTaskSuspendAll					MPU_vTaskSuspendAll
-		#define xTaskResumeAll					MPU_xTaskResumeAll
-		#define xTaskGetTickCount				MPU_xTaskGetTickCount
-		#define uxTaskGetNumberOfTasks			MPU_uxTaskGetNumberOfTasks
-		#define vTaskList						MPU_vTaskList
-		#define vTaskGetRunTimeStats			MPU_vTaskGetRunTimeStats
-		#define vTaskStartTrace					MPU_vTaskStartTrace
-		#define ulTaskEndTrace					MPU_ulTaskEndTrace
-		#define vTaskSetApplicationTaskTag		MPU_vTaskSetApplicationTaskTag
-		#define xTaskGetApplicationTaskTag		MPU_xTaskGetApplicationTaskTag
-		#define xTaskCallApplicationTaskHook	MPU_xTaskCallApplicationTaskHook
-		#define uxTaskGetStackHighWaterMark		MPU_uxTaskGetStackHighWaterMark
-		#define xTaskGetCurrentTaskHandle		MPU_xTaskGetCurrentTaskHandle
-		#define xTaskGetSchedulerState			MPU_xTaskGetSchedulerState
-
-		#define xQueueCreate					MPU_xQueueCreate
-		#define xQueueCreateMutex				MPU_xQueueCreateMutex
-		#define xQueueGiveMutexRecursive		MPU_xQueueGiveMutexRecursive
-		#define xQueueTakeMutexRecursive		MPU_xQueueTakeMutexRecursive
-		#define xQueueCreateCountingSemaphore	MPU_xQueueCreateCountingSemaphore
-		#define xQueueGenericSend				MPU_xQueueGenericSend
-		#define xQueueAltGenericSend			MPU_xQueueAltGenericSend
-		#define xQueueAltGenericReceive			MPU_xQueueAltGenericReceive
-		#define xQueueGenericReceive			MPU_xQueueGenericReceive
-		#define uxQueueMessagesWaiting			MPU_uxQueueMessagesWaiting
-		#define vQueueDelete					MPU_vQueueDelete
-
-		#define pvPortMalloc					MPU_pvPortMalloc
-		#define vPortFree						MPU_vPortFree
-		#define xPortGetFreeHeapSize			MPU_xPortGetFreeHeapSize
-		#define vPortInitialiseBlocks			MPU_vPortInitialiseBlocks
-
-		#if configQUEUE_REGISTRY_SIZE > 0
-			#define vQueueAddToRegistry				MPU_vQueueAddToRegistry
-			#define vQueueUnregisterQueue			MPU_vQueueUnregisterQueue
-		#endif
-
-		/* Remove the privileged function macro. */
-		#define PRIVILEGED_FUNCTION
-
-	#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
-
-		/* Ensure API functions go in the privileged execution section. */
-		#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
-		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
-        //#define PRIVILEGED_DATA
-
-	#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
-
-#else /* portUSING_MPU_WRAPPERS */
-
-	#define PRIVILEGED_FUNCTION
-	#define PRIVILEGED_DATA
-	#define portUSING_MPU_WRAPPERS 0
-
-#endif /* portUSING_MPU_WRAPPERS */
-
-
-#endif /* MPU_WRAPPERS_H */
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/portable.h
deleted file mode 100644
index b72a3f038..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/portable.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-/*-----------------------------------------------------------
- * Portable layer API.  Each function must be defined for each port.
- *----------------------------------------------------------*/
-
-#ifndef PORTABLE_H
-#define PORTABLE_H
-
-/* Include the macro file relevant to the port being used. */
-
-#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
-	#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
-	typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
-	#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
-	typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef GCC_MEGA_AVR
-	#include "../portable/GCC/ATMega323/portmacro.h"
-#endif
-
-#ifdef IAR_MEGA_AVR
-	#include "../portable/IAR/ATMega323/portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC24_PORT
-	#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h"
-#endif
-
-#ifdef MPLAB_DSPIC_PORT
-	#include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC18F_PORT
-	#include "..\..\Source\portable\MPLAB\PIC18F\portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC32MX_PORT
-	#include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h"
-#endif
-
-#ifdef _FEDPICC
-	#include "libFreeRTOS/Include/portmacro.h"
-#endif
-
-#ifdef SDCC_CYGNAL
-	#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
-#endif
-
-#ifdef GCC_ARM7
-	#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
-#endif
-
-#ifdef GCC_ARM7_ECLIPSE
-	#include "portmacro.h"
-#endif
-
-#ifdef ROWLEY_LPC23xx
-	#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
-#endif
-
-#ifdef IAR_MSP430
-	#include "..\..\Source\portable\IAR\MSP430\portmacro.h"	
-#endif
-	
-#ifdef GCC_MSP430
-	#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
-#endif
-
-#ifdef ROWLEY_MSP430
-	#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
-#endif
-
-#ifdef ARM7_LPC21xx_KEIL_RVDS
-	#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
-#endif
-
-#ifdef SAM7_GCC
-	#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
-#endif
-
-#ifdef SAM7_IAR
-	#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
-#endif
-
-#ifdef SAM9XE_IAR
-	#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
-#endif
-
-#ifdef LPC2000_IAR
-	#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
-#endif
-
-#ifdef STR71X_IAR
-	#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
-#endif
-
-#ifdef STR75X_IAR
-	#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
-#endif
-	
-#ifdef STR75X_GCC
-	#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
-#endif
-
-#ifdef STR91X_IAR
-	#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
-#endif
-	
-#ifdef GCC_H8S
-	#include "../../Source/portable/GCC/H8S2329/portmacro.h"
-#endif
-
-#ifdef GCC_AT91FR40008
-	#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
-#endif
-
-#ifdef RVDS_ARMCM3_LM3S102
-	#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef GCC_ARMCM3_LM3S102
-	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef GCC_ARMCM3
-	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef IAR_ARM_CM3
-	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef IAR_ARMCM3_LM
-	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
-#endif
-	
-#ifdef HCS12_CODE_WARRIOR
-	#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
-#endif	
-
-#ifdef MICROBLAZE_GCC
-	#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
-#endif
-
-#ifdef TERN_EE
-	#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
-#endif
-
-#ifdef GCC_HCS12
-	#include "../../Source/portable/GCC/HCS12/portmacro.h"
-#endif
-
-#ifdef GCC_MCF5235
-    #include "../../Source/portable/GCC/MCF5235/portmacro.h"
-#endif
-
-#ifdef COLDFIRE_V2_GCC
-	#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
-#endif
-
-#ifdef COLDFIRE_V2_CODEWARRIOR
-	#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
-#endif
-
-#ifdef GCC_PPC405
-	#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
-#endif
-
-#ifdef GCC_PPC440
-	#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
-#endif
-
-#ifdef _16FX_SOFTUNE
-	#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
-#endif
-
-#ifdef BCC_INDUSTRIAL_PC_PORT
-	/* A short file name has to be used in place of the normal
-	FreeRTOSConfig.h when using the Borland compiler. */
-	#include "frconfig.h"
-	#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
-    typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef BCC_FLASH_LITE_186_PORT
-	/* A short file name has to be used in place of the normal
-	FreeRTOSConfig.h when using the Borland compiler. */
-	#include "frconfig.h"
-	#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
-    typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef __GNUC__
-   #ifdef __AVR32_AVR32A__
-	   #include "portmacro.h"
-   #endif
-#endif
-
-#ifdef __ICCAVR32__
-   #ifdef __CORE__
-      #if __CORE__ == __AVR32A__
-	      #include "portmacro.h"
-      #endif
-   #endif
-#endif
-
-#ifdef __91467D
-	#include "portmacro.h"
-#endif
-
-#ifdef __96340
-	#include "portmacro.h"
-#endif
-
-
-#ifdef __IAR_V850ES_Fx3__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx3__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx3_L__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx2__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Hx2__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_78K0R_Kx3__
-	#include "../../Source/portable/IAR/78K0R/portmacro.h"
-#endif
-	
-#ifdef __IAR_78K0R_Kx3L__
-	#include "../../Source/portable/IAR/78K0R/portmacro.h"
-#endif
-
-/* Catch all to ensure portmacro.h is included in the build.  Newer demos
-have the path as part of the project options, rather than as relative from
-the project location.  If portENTER_CRITICAL() has not been defined then
-portmacro.h has not yet been included - as every portmacro.h provides a
-portENTER_CRITICAL() definition.  Check the demo application for your demo
-to find the path to the correct portmacro.h file. */
-#ifndef portENTER_CRITICAL
-	#include "../../Source/portable/GCC/Posix/portmacro.h"	
-	//#include "portmacro.h"	
-#endif
-	
-#if portBYTE_ALIGNMENT == 8
-	#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
-#endif
-
-#if portBYTE_ALIGNMENT == 4
-	#define portBYTE_ALIGNMENT_MASK	( 0x0003 )
-#endif
-
-#if portBYTE_ALIGNMENT == 2
-	#define portBYTE_ALIGNMENT_MASK	( 0x0001 )
-#endif
-
-#if portBYTE_ALIGNMENT == 1
-	#define portBYTE_ALIGNMENT_MASK	( 0x0000 )
-#endif
-
-#ifndef portBYTE_ALIGNMENT_MASK
-	#error "Invalid portBYTE_ALIGNMENT definition"
-#endif
-
-#ifndef portNUM_CONFIGURABLE_REGIONS
-	#define portNUM_CONFIGURABLE_REGIONS 1
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "mpu_wrappers.h"
-
-/*
- * Setup the stack of a new task so it is ready to be placed under the
- * scheduler control.  The registers have to be placed on the stack in
- * the order that the port expects to find them.
- *
- */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION;
-#else
-	portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters );
-#endif
-
-/*
- * Map to the memory management routines required for the port.
- */
-void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
-void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
-void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
-size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Setup the hardware ready for the scheduler to take control.  This generally
- * sets up a tick interrupt and sets timers for the correct tick frequency.
- */
-portBASE_TYPE xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
- * the hardware is left in its original condition after the scheduler stops
- * executing.
- */
-void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The structures and methods of manipulating the MPU are contained within the
- * port layer.
- *
- * Fills the xMPUSettings structure with the memory region information
- * contained in xRegions.
- */
-#if( portUSING_MPU_WRAPPERS == 1 ) 
-	struct xMEMORY_REGION;
-	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* PORTABLE_H */
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/projdefs.h
deleted file mode 100644
index 25e9560ea..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/projdefs.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef PROJDEFS_H
-#define PROJDEFS_H
-
-/* Defines the prototype to which task functions must conform. */
-typedef void (*pdTASK_CODE)( void * );
-
-#define pdTRUE		( 1 )
-#define pdFALSE		( 0 )
-
-#define pdPASS									( 1 )
-#define pdFAIL									( 0 )
-#define errQUEUE_EMPTY							( 0 )
-#define errQUEUE_FULL							( 0 )
-
-/* Error definitions. */
-#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY	( -1 )
-#define errNO_TASK_TO_RUN						( -2 )
-#define errQUEUE_BLOCKED						( -4 )
-#define errQUEUE_YIELD							( -5 )
-
-#endif /* PROJDEFS_H */
-
-
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/queue.h
deleted file mode 100644
index c26ccc7fe..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/queue.h
+++ /dev/null
@@ -1,1261 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include queue.h"
-#endif
-
-
-
-
-#ifndef QUEUE_H
-#define QUEUE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-#include "mpu_wrappers.h"
-
-
-typedef void * xQueueHandle;
-
-
-/* For internal use only. */
-#define	queueSEND_TO_BACK	( 0 )
-#define	queueSEND_TO_FRONT	( 1 )
-
-
-/**
- * queue. h
- * <pre>
- xQueueHandle xQueueCreate(
-							  unsigned portBASE_TYPE uxQueueLength,
-							  unsigned portBASE_TYPE uxItemSize
-						  );
- * </pre>
- *
- * Creates a new queue instance.  This allocates the storage required by the
- * new queue and returns a handle for the queue.
- *
- * @param uxQueueLength The maximum number of items that the queue can contain.
- *
- * @param uxItemSize The number of bytes each item in the queue will require.
- * Items are queued by copy, not by reference, so this is the number of bytes
- * that will be copied for each posted item.  Each item on the queue must be
- * the same size.
- *
- * @return If the queue is successfully create then a handle to the newly
- * created queue is returned.  If the queue cannot be created then 0 is
- * returned.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- };
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-	if( xQueue1 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue2 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueCreate xQueueCreate
- * \ingroup QueueManagement
- */
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSendToToFront(
-								   xQueueHandle	xQueue,
-								   const	void	*	pvItemToQueue,
-								   portTickType	xTicksToWait
-							   );
- * </pre>
- *
- * This is a macro that calls xQueueGenericSend().
- *
- * Post an item to the front of a queue.  The item is queued by copy, not by
- * reference.  This function must not be called from an interrupt service
- * routine.  See xQueueSendFromISR () for an alternative which may be used
- * in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full.  The call will return immediately if this is set to 0 and the
- * queue is full.  The time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSendToBack(
-								   xQueueHandle	xQueue,
-								   const	void	*	pvItemToQueue,
-								   portTickType	xTicksToWait
-							   );
- * </pre>
- *
- * This is a macro that calls xQueueGenericSend().
- *
- * Post an item to the back of a queue.  The item is queued by copy, not by
- * reference.  This function must not be called from an interrupt service
- * routine.  See xQueueSendFromISR () for an alternative which may be used
- * in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full.  The call will return immediately if this is set to 0 and the queue
- * is full.  The  time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSend(
-							  xQueueHandle xQueue,
-							  const void * pvItemToQueue,
-							  portTickType xTicksToWait
-						 );
- * </pre>
- *
- * This is a macro that calls xQueueGenericSend().  It is included for
- * backward compatibility with versions of FreeRTOS.org that did not
- * include the xQueueSendToFront() and xQueueSendToBack() macros.  It is
- * equivalent to xQueueSendToBack().
- *
- * Post an item on a queue.  The item is queued by copy, not by reference.
- * This function must not be called from an interrupt service routine.
- * See xQueueSendFromISR () for an alternative which may be used in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full.  The call will return immediately if this is set to 0 and the
- * queue is full.  The time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
-
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueGenericSend(
-									xQueueHandle xQueue,
-									const void * pvItemToQueue,
-									portTickType xTicksToWait
-									portBASE_TYPE xCopyPosition
-								);
- * </pre>
- *
- * It is preferred that the macros xQueueSend(), xQueueSendToFront() and
- * xQueueSendToBack() are used in place of calling this function directly.
- *
- * Post an item on a queue.  The item is queued by copy, not by reference.
- * This function must not be called from an interrupt service routine.
- * See xQueueSendFromISR () for an alternative which may be used in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full.  The call will return immediately if this is set to 0 and the
- * queue is full.  The time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- *
- * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
- * item at the back of the queue, or queueSEND_TO_FRONT to place the item
- * at the front of the queue (for high priority messages).
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- unsigned long ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- xQueueHandle xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 unsigned long values.
-	xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an unsigned long.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueuePeek(
-							 xQueueHandle xQueue,
-							 void *pvBuffer,
-							 portTickType xTicksToWait
-						 );</pre>
- *
- * This is a macro that calls the xQueueGenericReceive() function.
- *
- * Receive an item from a queue without removing the item from the queue.
- * The item is received by copy so a buffer of adequate size must be
- * provided.  The number of bytes copied into the buffer was defined when
- * the queue was created.
- *
- * Successfully received items remain on the queue so will be returned again
- * by the next call, or a call to xQueueReceive().
- *
- * This macro must not be used in an interrupt service routine.
- *
- * @param pxQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for an item to receive should the queue be empty at the time
- * of the call.	 The time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue
- * is empty.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to peek the data from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Peek a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask, but the item still remains on the queue.
-		}
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueReceive xQueueReceive
- * \ingroup QueueManagement
- */
-#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueReceive(
-								 xQueueHandle xQueue,
-								 void *pvBuffer,
-								 portTickType xTicksToWait
-							);</pre>
- *
- * This is a macro that calls the xQueueGenericReceive() function.
- *
- * Receive an item from a queue.  The item is received by copy so a buffer of
- * adequate size must be provided.  The number of bytes copied into the buffer
- * was defined when the queue was created.
- *
- * Successfully received items are removed from the queue.
- *
- * This function must not be used in an interrupt service routine.  See
- * xQueueReceiveFromISR for an alternative that can.
- *
- * @param pxQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for an item to receive should the queue be empty at the time
- * of the call.	 xQueueReceive() will return immediately if xTicksToWait
- * is zero and the queue is empty.  The time is defined in tick periods so the
- * constant portTICK_RATE_MS should be used to convert to real time if this is
- * required.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Receive a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask.
-		}
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueReceive xQueueReceive
- * \ingroup QueueManagement
- */
-#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
-
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueGenericReceive(
-									   xQueueHandle	xQueue,
-									   void	*pvBuffer,
-									   portTickType	xTicksToWait
-									   portBASE_TYPE	xJustPeek
-									);</pre>
- *
- * It is preferred that the macro xQueueReceive() be used rather than calling
- * this function directly.
- *
- * Receive an item from a queue.  The item is received by copy so a buffer of
- * adequate size must be provided.  The number of bytes copied into the buffer
- * was defined when the queue was created.
- *
- * This function must not be used in an interrupt service routine.  See
- * xQueueReceiveFromISR for an alternative that can.
- *
- * @param pxQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for an item to receive should the queue be empty at the time
- * of the call.	 The time is defined in tick periods so the constant
- * portTICK_RATE_MS should be used to convert to real time if this is required.
- * xQueueGenericReceive() will return immediately if the queue is empty and
- * xTicksToWait is 0.
- *
- * @param xJustPeek When set to true, the item received from the queue is not
- * actually removed from the queue - meaning a subsequent call to
- * xQueueReceive() will return the same item.  When set to false, the item
- * being received from the queue is also removed from the queue.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
-   <pre>
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- xQueueHandle xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Receive a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask.
-		}
-	}
-
-	// ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueReceive xQueueReceive
- * \ingroup QueueManagement
- */
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );
-
-/**
- * queue. h
- * <pre>unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );</pre>
- *
- * Return the number of messages stored in a queue.
- *
- * @param xQueue A handle to the queue being queried.
- *
- * @return The number of messages available in the queue.
- *
- * \page uxQueueMessagesWaiting uxQueueMessagesWaiting
- * \ingroup QueueManagement
- */
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
-
-/**
- * queue. h
- * <pre>void vQueueDelete( xQueueHandle xQueue );</pre>
- *
- * Delete a queue - freeing all the memory allocated for storing of items
- * placed on the queue.
- *
- * @param xQueue A handle to the queue to be deleted.
- *
- * \page vQueueDelete vQueueDelete
- * \ingroup QueueManagement
- */
-void vQueueDelete( xQueueHandle xQueue );
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSendToFrontFromISR(
-										 xQueueHandle pxQueue,
-										 const void *pvItemToQueue,
-										 portBASE_TYPE *pxHigherPriorityTaskWoken
-									  );
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR().
- *
- * Post an item to the front of a queue.  It is safe to use this macro from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR.  In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task.  If xQueueSendToFromFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
-   <pre>
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPrioritTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_FRONT )
-
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSendToBackFromISR(
-										 xQueueHandle pxQueue,
-										 const void *pvItemToQueue,
-										 portBASE_TYPE *pxHigherPriorityTaskWoken
-									  );
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR().
- *
- * Post an item to the back of a queue.  It is safe to use this macro from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR.  In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task.  If xQueueSendToBackFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
-   <pre>
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueSendFromISR(
-									 xQueueHandle pxQueue,
-									 const void *pvItemToQueue,
-									 portBASE_TYPE *pxHigherPriorityTaskWoken
-								);
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR().  It is included
- * for backward compatibility with versions of FreeRTOS.org that did not
- * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
- * macros.
- *
- * Post an item to the back of a queue.  It is safe to use this function from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR.  In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task.  If xQueueSendFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
-   <pre>
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		// Actual macro used here is port specific.
-		taskYIELD_FROM_ISR ();
-	}
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueGenericSendFromISR(
-										   xQueueHandle	pxQueue,
-										   const	void	*pvItemToQueue,
-										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
-										   portBASE_TYPE	xCopyPosition
-									   );
- </pre>
- *
- * It is preferred that the macros xQueueSendFromISR(),
- * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
- * of calling this function directly.
- *
- * Post an item on a queue.  It is safe to use this function from within an
- * interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR.  In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue.  The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task.  If xQueueGenericSendFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
- * item at the back of the queue, or queueSEND_TO_FRONT to place the item
- * at the front of the queue (for high priority messages).
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
-   <pre>
- void vBufferISR( void )
- {
- char cIn;
- portBASE_TYPE xHigherPriorityTaskWokenByPost;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWokenByPost = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post each byte.
-		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.  Note that the
-	// name of the yield function required is port specific.
-	if( xHigherPriorityTaskWokenByPost )
-	{
-		taskYIELD_YIELD_FROM_ISR();
-	}
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
-
-/**
- * queue. h
- * <pre>
- portBASE_TYPE xQueueReceiveFromISR(
-									   xQueueHandle	pxQueue,
-									   void	*pvBuffer,
-									   portBASE_TYPE	*pxTaskWoken
-								   );
- * </pre>
- *
- * Receive an item from a queue.  It is safe to use this function from within an
- * interrupt service routine.
- *
- * @param pxQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param pxTaskWoken A task may be blocked waiting for space to become
- * available on the queue.  If xQueueReceiveFromISR causes such a task to
- * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will
- * remain unchanged.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
-   <pre>
-
- xQueueHandle xQueue;
-
- // Function to create a queue and post some values.
- void vAFunction( void *pvParameters )
- {
- char cValueToPost;
- const portTickType xBlockTime = ( portTickType )0xff;
-
-	// Create a queue capable of containing 10 characters.
-	xQueue = xQueueCreate( 10, sizeof( char ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Post some characters that will be used within an ISR.  If the queue
-	// is full then this task will block for xBlockTime ticks.
-	cValueToPost = 'a';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-	cValueToPost = 'b';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
-
-	// ... keep posting characters ... this task may block when the queue
-	// becomes full.
-
-	cValueToPost = 'c';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
- }
-
- // ISR that outputs all the characters received on the queue.
- void vISR_Routine( void )
- {
- portBASE_TYPE xTaskWokenByReceive = pdFALSE;
- char cRxedChar;
-
-	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
-	{
-		// A character was received.  Output the character now.
-		vOutputCharacter( cRxedChar );
-
-		// If removing the character from the queue woke the task that was
-		// posting onto the queue cTaskWokenByReceive will have been set to
-		// pdTRUE.  No matter how many times this loop iterates only one
-		// task will be woken.
-	}
-
-	if( cTaskWokenByPost != ( char ) pdFALSE;
-	{
-		taskYIELD ();
-	}
- }
- </pre>
- * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
- * \ingroup QueueManagement
- */
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-
-/*
- * Utilities to query queue that are safe to use from an ISR.  These utilities
- * should be used only from witin an ISR, or within a critical section.
- */
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue );
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue );
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue );
-
-
-/*
- * xQueueAltGenericSend() is an alternative version of xQueueGenericSend().
- * Likewise xQueueAltGenericReceive() is an alternative version of
- * xQueueGenericReceive().
- *
- * The source code that implements the alternative (Alt) API is much
- * simpler	because it executes everything from within a critical section.
- * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the
- * preferred fully featured API too.  The fully featured API has more
- * complex	code that takes longer to execute, but makes much less use of
- * critical sections.  Therefore the alternative API sacrifices interrupt
- * responsiveness to gain execution speed, whereas the fully featured API
- * sacrifices execution speed to ensure better interrupt responsiveness.
- */
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
-#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
-#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
-#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
-#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
-
-/*
- * The functions defined above are for passing data to and from tasks.  The
- * functions below are the equivalents for passing data to and from
- * co-routines.
- *
- * These functions are called from the co-routine macro implementation and
- * should not be called directly from application code.  Instead use the macro
- * wrappers defined within croutine.h.
- */
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
-
-/*
- * For internal use only.  Use xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting() instead of calling these functions directly.
- */
-xQueueHandle xQueueCreateMutex( void );
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );
-
-/*
- * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
- * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
- */
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );
-
-/*
- * The registry is provided as a means for kernel aware debuggers to
- * locate queues, semaphores and mutexes.  Call vQueueAddToRegistry() add
- * a queue, semaphore or mutex handle to the registry if you want the handle
- * to be available to a kernel aware debugger.  If you are not using a kernel
- * aware debugger then this function can be ignored.
- *
- * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the
- * registry can hold.  configQUEUE_REGISTRY_SIZE must be greater than 0
- * within FreeRTOSConfig.h for the registry to be available.  Its value
- * does not effect the number of queues, semaphores and mutexes that can be
- * created - just the number that the registry can hold.
- *
- * @param xQueue The handle of the queue being added to the registry.  This
- * is the handle returned by a call to xQueueCreate().  Semaphore and mutex
- * handles can also be passed in here.
- *
- * @param pcName The name to be associated with the handle.  This is the
- * name that the kernel aware debugger will display.
- */
-#if configQUEUE_REGISTRY_SIZE > 0
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );
-#endif
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* QUEUE_H */
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/semphr.h
deleted file mode 100644
index 3984e4bb9..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/semphr.h
+++ /dev/null
@@ -1,711 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include semphr.h"
-#endif
-
-#ifndef SEMAPHORE_H
-#define SEMAPHORE_H
-
-#include "queue.h"
-
-typedef xQueueHandle xSemaphoreHandle;
-
-#define semBINARY_SEMAPHORE_QUEUE_LENGTH	( ( unsigned char ) 1 )
-#define semSEMAPHORE_QUEUE_ITEM_LENGTH		( ( unsigned char ) 0 )
-#define semGIVE_BLOCK_TIME					( ( portTickType ) 0 )
-
-
-/**
- * semphr. h
- * <pre>vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )</pre>
- *
- * <i>Macro</i> that implements a semaphore by using the existing queue mechanism.
- * The queue length is 1 as this is a binary semaphore.  The data size is 0
- * as we don't want to actually store any data - we just want to know if the
- * queue is empty or full.
- *
- * This type of semaphore can be used for pure synchronisation between tasks or
- * between an interrupt and a task.  The semaphore need not be given back once
- * obtained, so one task/interrupt can continuously 'give' the semaphore while
- * another continuously 'takes' the semaphore.  For this reason this type of
- * semaphore does not use a priority inheritance mechanism.  For an alternative
- * that does use priority inheritance see xSemaphoreCreateMutex().
- *
- * @param xSemaphore Handle to the created semaphore.  Should be of type xSemaphoreHandle.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
-    // This is a macro so pass the variable in directly.
-    vSemaphoreCreateBinary( xSemaphore );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
- </pre>
- * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
- * \ingroup Semaphores
- */
-#define vSemaphoreCreateBinary( xSemaphore )		{																								\
-														xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH );	\
-														if( xSemaphore != NULL )																	\
-														{																							\
-															xSemaphoreGive( xSemaphore );															\
-														}																							\
-													}
-
-/**
- * semphr. h
- * <pre>xSemaphoreTake( 
- *                   xSemaphoreHandle xSemaphore, 
- *                   portTickType xBlockTime 
- *               )</pre>
- *
- * <i>Macro</i> to obtain a semaphore.  The semaphore must have previously been
- * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting().
- *
- * @param xSemaphore A handle to the semaphore being taken - obtained when
- * the semaphore was created.
- *
- * @param xBlockTime The time in ticks to wait for the semaphore to become
- * available.  The macro portTICK_RATE_MS can be used to convert this to a
- * real time.  A block time of zero can be used to poll the semaphore.  A block
- * time of portMAX_DELAY can be used to block indefinitely (provided
- * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
- *
- * @return pdTRUE if the semaphore was obtained.  pdFALSE
- * if xBlockTime expired without the semaphore becoming available.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore = NULL;
-
- // A task that creates a semaphore.
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    vSemaphoreCreateBinary( xSemaphore );
- }
-
- // A task that uses the semaphore.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xSemaphore != NULL )
-    {
-        // See if we can obtain the semaphore.  If the semaphore is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the semaphore and can now access the
-            // shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource.  Release the 
-            // semaphore.
-            xSemaphoreGive( xSemaphore );
-        }
-        else
-        {
-            // We could not obtain the semaphore and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- </pre>
- * \defgroup xSemaphoreTake xSemaphoreTake
- * \ingroup Semaphores
- */
-#define xSemaphoreTake( xSemaphore, xBlockTime )		xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
-
-/**
- * semphr. h
- * xSemaphoreTakeRecursive( 
- *                          xSemaphoreHandle xMutex, 
- *                          portTickType xBlockTime 
- *                        )
- *
- * <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore.  
- * The mutex must have previously been created using a call to 
- * xSemaphoreCreateRecursiveMutex();
- * 
- * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
- * macro to be available.
- * 
- * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
- * not be available to any other task until it has also  'given' the mutex back
- * exactly five times.
- *
- * @param xMutex A handle to the mutex being obtained.  This is the
- * handle returned by xSemaphoreCreateRecursiveMutex();
- *
- * @param xBlockTime The time in ticks to wait for the semaphore to become
- * available.  The macro portTICK_RATE_MS can be used to convert this to a
- * real time.  A block time of zero can be used to poll the semaphore.  If
- * the task already owns the semaphore then xSemaphoreTakeRecursive() will
- * return immediately no matter what the value of xBlockTime. 
- *
- * @return pdTRUE if the semaphore was obtained.  pdFALSE if xBlockTime
- * expired without the semaphore becoming available.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to 
-			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
-			// code these would not be just sequential calls as this would make
-			// no sense.  Instead the calls are likely to be buried inside
-			// a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be 
-			// available to another task until it has also been given back
-			// three times.  Again it is unlikely that real code would have
-			// these calls sequentially, but instead buried in a more complex
-			// call structure.  This is just for illustrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-
-			// Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- </pre>
- * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
- * \ingroup Semaphores
- */
-#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( xMutex, xBlockTime )
-
-
-/* 
- * xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
- *
- * The source code that implements the alternative (Alt) API is much 
- * simpler	because it executes everything from within a critical section.  
- * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the 
- * preferred fully featured API too.  The fully featured API has more 
- * complex	code that takes longer to execute, but makes much less use of 
- * critical sections.  Therefore the alternative API sacrifices interrupt 
- * responsiveness to gain execution speed, whereas the fully featured API
- * sacrifices execution speed to ensure better interrupt responsiveness.
- */
-#define xSemaphoreAltTake( xSemaphore, xBlockTime )		xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
-
-/**
- * semphr. h
- * <pre>xSemaphoreGive( xSemaphoreHandle xSemaphore )</pre>
- *
- * <i>Macro</i> to release a semaphore.  The semaphore must have previously been
- * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
- *
- * This macro must not be used from an ISR.  See xSemaphoreGiveFromISR () for
- * an alternative which can be used from an ISR.
- *
- * This macro must also not be used on semaphores created using 
- * xSemaphoreCreateRecursiveMutex().
- *
- * @param xSemaphore A handle to the semaphore being released.  This is the
- * handle returned when the semaphore was created.
- *
- * @return pdTRUE if the semaphore was released.  pdFALSE if an error occurred.
- * Semaphores are implemented using queues.  An error can occur if there is
- * no space on the queue to post a message - indicating that the 
- * semaphore was not first obtained correctly.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    vSemaphoreCreateBinary( xSemaphore );
-
-    if( xSemaphore != NULL )
-    {
-        if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-        {
-            // We would expect this call to fail because we cannot give
-            // a semaphore without first "taking" it!
-        }
-
-        // Obtain the semaphore - don't block if the semaphore is not
-        // immediately available.
-        if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )
-        {
-            // We now have the semaphore and can access the shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource so can free the
-            // semaphore.
-            if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-            {
-                // We would not expect this call to fail because we must have
-                // obtained the semaphore to get here.
-            }
-        }
-    }
- }
- </pre>
- * \defgroup xSemaphoreGive xSemaphoreGive
- * \ingroup Semaphores
- */
-#define xSemaphoreGive( xSemaphore )		xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
-
-/**
- * semphr. h
- * <pre>xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )</pre>
- *
- * <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.
- * The mutex must have previously been created using a call to 
- * xSemaphoreCreateRecursiveMutex();
- * 
- * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
- * macro to be available.
- *
- * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
- * 
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
- * not be available to any other task until it has also  'given' the mutex back
- * exactly five times.
- *
- * @param xMutex A handle to the mutex being released, or 'given'.  This is the
- * handle returned by xSemaphoreCreateMutex();
- *
- * @return pdTRUE if the semaphore was given.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
-        if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to 
-			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
-			// code these would not be just sequential calls as this would make
-			// no sense.  Instead the calls are likely to be buried inside
-			// a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be 
-			// available to another task until it has also been given back
-			// three times.  Again it is unlikely that real code would have
-			// these calls sequentially, it would be more likely that the calls
-			// to xSemaphoreGiveRecursive() would be called as a call stack
-			// unwound.  This is just for demonstrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-
-			// Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- </pre>
- * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
- * \ingroup Semaphores
- */
-#define xSemaphoreGiveRecursive( xMutex )	xQueueGiveMutexRecursive( xMutex )
-
-/* 
- * xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
- *
- * The source code that implements the alternative (Alt) API is much 
- * simpler	because it executes everything from within a critical section.  
- * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the 
- * preferred fully featured API too.  The fully featured API has more 
- * complex	code that takes longer to execute, but makes much less use of 
- * critical sections.  Therefore the alternative API sacrifices interrupt 
- * responsiveness to gain execution speed, whereas the fully featured API
- * sacrifices execution speed to ensure better interrupt responsiveness.
- */
-#define xSemaphoreAltGive( xSemaphore )		xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
-
-/**
- * semphr. h
- * <pre>
- xSemaphoreGiveFromISR( 
-                          xSemaphoreHandle xSemaphore, 
-                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
-                      )</pre>
- *
- * <i>Macro</i> to  release a semaphore.  The semaphore must have previously been
- * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting().
- *
- * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
- * must not be used with this macro.
- *
- * This macro can be used from an ISR.
- *
- * @param xSemaphore A handle to the semaphore being released.  This is the
- * handle returned when the semaphore was created.
- *
- * @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task.  If xSemaphoreGiveFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- \#define LONG_TIME 0xffff
- \#define TICKS_TO_WAIT	10
- xSemaphoreHandle xSemaphore = NULL;
-
- // Repetitive task.
- void vATask( void * pvParameters )
- {
-    for( ;; )
-    {
-        // We want this task to run every 10 ticks of a timer.  The semaphore 
-        // was created before this task was started.
-
-        // Block waiting for the semaphore to become available.
-        if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
-        {
-            // It is time to execute.
-
-            // ...
-
-            // We have finished our task.  Return to the top of the loop where
-            // we will block on the semaphore until it is time to execute 
-            // again.  Note when using the semaphore for synchronisation with an
-			// ISR in this manner there is no need to 'give' the semaphore back.
-        }
-    }
- }
-
- // Timer ISR
- void vTimerISR( void * pvParameters )
- {
- static unsigned char ucLocalTickCount = 0;
- static signed portBASE_TYPE xHigherPriorityTaskWoken;
-
-    // A timer tick has occurred.
-
-    // ... Do other time functions.
-
-    // Is it time for vATask () to run?
-	xHigherPriorityTaskWoken = pdFALSE;
-    ucLocalTickCount++;
-    if( ucLocalTickCount >= TICKS_TO_WAIT )
-    {
-        // Unblock the task by releasing the semaphore.
-        xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
-
-        // Reset the count so we release the semaphore again in 10 ticks time.
-        ucLocalTickCount = 0;
-    }
-
-    if( xHigherPriorityTaskWoken != pdFALSE )
-    {
-        // We can force a context switch here.  Context switching from an
-        // ISR uses port specific syntax.  Check the demo task for your port
-        // to find the syntax required.
-    }
- }
- </pre>
- * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
- * \ingroup Semaphores
- */
-#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )			xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
-
-/**
- * semphr. h
- * <pre>xSemaphoreHandle xSemaphoreCreateMutex( void )</pre>
- *
- * <i>Macro</i> that implements a mutex semaphore by using the existing queue 
- * mechanism.
- *
- * Mutexes created using this macro can be accessed using the xSemaphoreTake()
- * and xSemaphoreGive() macros.  The xSemaphoreTakeRecursive() and 
- * xSemaphoreGiveRecursive() macros should not be used.
- * 
- * This type of semaphore uses a priority inheritance mechanism so a task 
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the 
- * semaphore it is no longer required.  
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.  
- *
- * See vSemaphoreCreateBinary() for an alternative implementation that can be 
- * used for pure synchronisation (where one task or interrupt always 'gives' the 
- * semaphore and another always 'takes' the semaphore) and from within interrupt 
- * service routines.
- *
- * @return xSemaphore Handle to the created mutex semaphore.  Should be of type 
- *		xSemaphoreHandle.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
- </pre>
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
- * \ingroup Semaphores
- */
-#define xSemaphoreCreateMutex() xQueueCreateMutex()
-
-
-/**
- * semphr. h
- * <pre>xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )</pre>
- *
- * <i>Macro</i> that implements a recursive mutex by using the existing queue 
- * mechanism.
- *
- * Mutexes created using this macro can be accessed using the 
- * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros.  The 
- * xSemaphoreTake() and xSemaphoreGive() macros should not be used.
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
- * not be available to any other task until it has also  'given' the mutex back
- * exactly five times.
- * 
- * This type of semaphore uses a priority inheritance mechanism so a task 
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the 
- * semaphore it is no longer required.  
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.  
- *
- * See vSemaphoreCreateBinary() for an alternative implementation that can be 
- * used for pure synchronisation (where one task or interrupt always 'gives' the 
- * semaphore and another always 'takes' the semaphore) and from within interrupt 
- * service routines.
- *
- * @return xSemaphore Handle to the created mutex semaphore.  Should be of type 
- *		xSemaphoreHandle.
- *
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateRecursiveMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
- </pre>
- * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
- * \ingroup Semaphores
- */
-#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()
-
-/**
- * semphr. h
- * <pre>xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )</pre>
- *
- * <i>Macro</i> that creates a counting semaphore by using the existing 
- * queue mechanism.  
- *
- * Counting semaphores are typically used for two things:
- *
- * 1) Counting events.  
- *
- *    In this usage scenario an event handler will 'give' a semaphore each time
- *    an event occurs (incrementing the semaphore count value), and a handler 
- *    task will 'take' a semaphore each time it processes an event 
- *    (decrementing the semaphore count value).  The count value is therefore 
- *    the difference between the number of events that have occurred and the 
- *    number that have been processed.  In this case it is desirable for the 
- *    initial count value to be zero.
- *
- * 2) Resource management.
- *
- *    In this usage scenario the count value indicates the number of resources
- *    available.  To obtain control of a resource a task must first obtain a 
- *    semaphore - decrementing the semaphore count value.  When the count value
- *    reaches zero there are no free resources.  When a task finishes with the
- *    resource it 'gives' the semaphore back - incrementing the semaphore count
- *    value.  In this case it is desirable for the initial count value to be
- *    equal to the maximum count value, indicating that all resources are free.
- *
- * @param uxMaxCount The maximum count value that can be reached.  When the 
- *        semaphore reaches this value it can no longer be 'given'.
- *
- * @param uxInitialCount The count value assigned to the semaphore when it is
- *        created.
- *
- * @return Handle to the created semaphore.  Null if the semaphore could not be
- *         created.
- * 
- * Example usage:
- <pre>
- xSemaphoreHandle xSemaphore;
-
- void vATask( void * pvParameters )
- {
- xSemaphoreHandle xSemaphore = NULL;
-
-    // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
-    // The max value to which the semaphore can count should be 10, and the
-    // initial value assigned to the count should be 0.
-    xSemaphore = xSemaphoreCreateCounting( 10, 0 );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.  
-    }
- }
- </pre>
- * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
- * \ingroup Semaphores
- */
-#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount )
-
-
-#endif /* SEMAPHORE_H */
-
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/task.h
deleted file mode 100644
index df059e001..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/include/task.h
+++ /dev/null
@@ -1,1263 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include task.h"
-#endif
-
-
-
-#ifndef TASK_H
-#define TASK_H
-
-#include "portable.h"
-#include "list.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
-
-#define tskKERNEL_VERSION_NUMBER "V6.0.4"
-
-/**
- * task. h
- *
- * Type by which tasks are referenced.  For example, a call to xTaskCreate
- * returns (via a pointer parameter) an xTaskHandle variable that can then
- * be used as a parameter to vTaskDelete to delete the task.
- *
- * \page xTaskHandle xTaskHandle
- * \ingroup Tasks
- */
-typedef void * xTaskHandle;
-
-/*
- * Used internally only.
- */
-typedef struct xTIME_OUT
-{
-	portBASE_TYPE xOverflowCount;
-	portTickType  xTimeOnEntering;
-} xTimeOutType;
-
-/*
- * Defines the memory ranges allocated to the task when an MPU is used.
- */
-typedef struct xMEMORY_REGION
-{
-	void *pvBaseAddress;
-	unsigned long ulLengthInBytes;
-	unsigned long ulParameters;
-} xMemoryRegion;
-
-/*
- * Parameters required to create an MPU protected task.
- */
-typedef struct xTASK_PARAMTERS
-{
-	pdTASK_CODE pvTaskCode;
-	const signed char * const pcName;
-	unsigned short usStackDepth;
-	void *pvParameters;
-	unsigned portBASE_TYPE uxPriority;
-	portSTACK_TYPE *puxStackBuffer;
-	xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
-} xTaskParameters;
-
-/*
- * Defines the priority used by the idle task.  This must not be modified.
- *
- * \ingroup TaskUtils
- */
-#define tskIDLE_PRIORITY			( ( unsigned portBASE_TYPE ) 0 )
-
-/**
- * task. h
- *
- * Macro for forcing a context switch.
- *
- * \page taskYIELD taskYIELD
- * \ingroup SchedulerControl
- */
-#define taskYIELD()					portYIELD()
-
-/**
- * task. h
- *
- * Macro to mark the start of a critical code region.  Preemptive context
- * switches cannot occur when in a critical region.
- *
- * NOTE: This may alter the stack (depending on the portable implementation)
- * so must be used with care!
- *
- * \page taskENTER_CRITICAL taskENTER_CRITICAL
- * \ingroup SchedulerControl
- */
-#define taskENTER_CRITICAL()		portENTER_CRITICAL()
-
-/**
- * task. h
- *
- * Macro to mark the end of a critical code region.  Preemptive context
- * switches cannot occur when in a critical region.
- *
- * NOTE: This may alter the stack (depending on the portable implementation)
- * so must be used with care!
- *
- * \page taskEXIT_CRITICAL taskEXIT_CRITICAL
- * \ingroup SchedulerControl
- */
-#define taskEXIT_CRITICAL()			portEXIT_CRITICAL()
-
-/**
- * task. h
- *
- * Macro to disable all maskable interrupts.
- *
- * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
- * \ingroup SchedulerControl
- */
-#define taskDISABLE_INTERRUPTS()	portDISABLE_INTERRUPTS()
-
-/**
- * task. h
- *
- * Macro to enable microcontroller interrupts.
- *
- * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
- * \ingroup SchedulerControl
- */
-#define taskENABLE_INTERRUPTS()		portENABLE_INTERRUPTS()
-
-/* Definitions returned by xTaskGetSchedulerState(). */
-#define taskSCHEDULER_NOT_STARTED	0
-#define taskSCHEDULER_RUNNING		1
-#define taskSCHEDULER_SUSPENDED		2
-
-/*-----------------------------------------------------------
- * TASK CREATION API
- *----------------------------------------------------------*/
-
-/**
- * task. h
- *<pre>
- portBASE_TYPE xTaskCreate(
-							  pdTASK_CODE pvTaskCode,
-							  const char * const pcName,
-							  unsigned short usStackDepth,
-							  void *pvParameters,
-							  unsigned portBASE_TYPE uxPriority,
-							  xTaskHandle *pvCreatedTask
-						  );</pre>
- *
- * Create a new task and add it to the list of tasks that are ready to run.
- * 
- * xTaskCreate() can only be used to create a task that has unrestricted
- * access to the entire microcontroller memory map.  Systems that include MPU
- * support can alternatively create an MPU constrained task using 
- * xTaskCreateRestricted().
- *
- * @param pvTaskCode Pointer to the task entry function.  Tasks
- * must be implemented to never return (i.e. continuous loop).
- *
- * @param pcName A descriptive name for the task.  This is mainly used to
- * facilitate debugging.  Max length defined by tskMAX_TASK_NAME_LEN - default
- * is 16.
- *
- * @param usStackDepth The size of the task stack specified as the number of
- * variables the stack can hold - not the number of bytes.  For example, if
- * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
- * will be allocated for stack storage.
- *
- * @param pvParameters Pointer that will be used as the parameter for the task
- * being created.
- *
- * @param uxPriority The priority at which the task should run.  Systems that
- * include MPU support can optionally create tasks in a privileged (system)
- * mode by setting bit portPRIVILEGE_BIT of the priority parameter.  For
- * example, to create a privileged task at priority 2 the uxPriority parameter
- * should be set to ( 2 | portPRIVILEGE_BIT ).
- *
- * @param pvCreatedTask Used to pass back a handle by which the created task
- * can be referenced.
- *
- * @return pdPASS if the task was successfully created and added to a ready
- * list, otherwise an error code defined in the file errors. h
- *
- * Example usage:
-   <pre>
- // Task to be created.
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-	 }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- static unsigned char ucParameterToPass;
- xTaskHandle xHandle;
-
-	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
-	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
-	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
-	 // the new task attempts to access it.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
-
-	 // Use the handle to delete the task.
-	 vTaskDelete( xHandle );
- }
-   </pre>
- * \defgroup xTaskCreate xTaskCreate
- * \ingroup Tasks
- */
-#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )
-
-/**
- * task. h
- *<pre>
- portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle *pxCreatedTask );</pre>
- *
- * xTaskCreateRestricted() should only be used in systems that include an MPU
- * implementation.
- *
- * Create a new task and add it to the list of tasks that are ready to run.
- * The function parameters define the memory regions and associated access
- * permissions allocated to the task.
- *
- * @param pxTaskDefinition Pointer to a structure that contains a member
- * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
- * documentation) plus an optional stack buffer and the memory region 
- * definitions.
- *
- * @param pxCreatedTask Used to pass back a handle by which the created task
- * can be referenced.
- *
- * @return pdPASS if the task was successfully created and added to a ready
- * list, otherwise an error code defined in the file errors. h
- *
- * Example usage:
-   <pre>
-// Create an xTaskParameters structure that defines the task to be created.
-static const xTaskParameters xCheckTaskParameters =
-{
-	vATask,		// pvTaskCode - the function that implements the task.
-	"ATask",	// pcName - just a text name for the task to assist debugging.
-	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
-	NULL,		// pvParameters - passed into the task function as the function parameters.
-	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
-	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
-	// xRegions - Allocate up to three separate memory regions for access by
-	// the task, with appropriate access permissions.  Different processors have
-	// different memory alignment requirements - refer to the FreeRTOS documentation
-	// for full information.
-	{											
-		// Base address					Length	Parameters
-        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
-	}
-};
-
-int main( void )
-{
-xTaskHandle xHandle;
-
-	// Create a task from the const structure defined above.  The task handle
-	// is requested (the second parameter is not NULL) but in this case just for
-	// demonstration purposes as its not actually used.
-	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
-	// Start the scheduler.
-	vTaskStartScheduler();
-
-	// Will only get here if there was insufficient memory to create the idle
-	// task.
-	for( ;; );
-}
-   </pre>
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted
- * \ingroup Tasks
- */
-#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) )
-
-/**
- * task. h
- *<pre>
- void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );</pre>
- *
- * Memory regions are assigned to a restricted task when the task is created by
- * a call to xTaskCreateRestricted().  These regions can be redefined using
- * vTaskAllocateMPURegions().
- * 
- * @param xTask The handle of the task being updated.
- *
- * @param xRegions A pointer to an xMemoryRegion structure that contains the
- * new memory region definitions.
- *
- * Example usage:
-   <pre>
-// Define an array of xMemoryRegion structures that configures an MPU region
-// allowing read/write access for 1024 bytes starting at the beginning of the
-// ucOneKByte array.  The other two of the maximum 3 definable regions are
-// unused so set to zero.
-static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{											
-	// Base address		Length		Parameters
-	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
-	{ 0,				0,			0 },
-	{ 0,				0,			0 }
-};
-
-void vATask( void *pvParameters )
-{
-	// This task was created such that it has access to certain regions of
-	// memory as defined by the MPU configuration.  At some point it is 
-	// desired that these MPU regions are replaced with that defined in the
-	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
-	// for this purpose.  NULL is used as the task handle to indicate that this
-	// function should modify the MPU regions of the calling task.
-	vTaskAllocateMPURegions( NULL, xAltRegions );
-	
-	// Now the task can continue its function, but from this point on can only
-	// access its stack and the ucOneKByte array (unless any other statically
-	// defined or shared regions have been declared elsewhere).
-}
-   </pre>
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted
- * \ingroup Tasks
- */
-void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskDelete( xTaskHandle pxTask );</pre>
- *
- * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Remove a task from the RTOS real time kernels management.  The task being
- * deleted will be removed from all ready, blocked, suspended and event lists.
- *
- * NOTE:  The idle task is responsible for freeing the kernel allocated
- * memory from tasks that have been deleted.  It is therefore important that
- * the idle task is not starved of microcontroller processing time if your
- * application makes any calls to vTaskDelete ().  Memory allocated by the
- * task code is not automatically freed, and should be freed before the task
- * is deleted.
- *
- * See the demo application file death.c for sample code that utilises
- * vTaskDelete ().
- *
- * @param pxTask The handle of the task to be deleted.  Passing NULL will
- * cause the calling task to be deleted.
- *
- * Example usage:
-   <pre>
- void vOtherFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create the task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // Use the handle to delete the task.
-	 vTaskDelete( xHandle );
- }
-   </pre>
- * \defgroup vTaskDelete vTaskDelete
- * \ingroup Tasks
- */
-void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <pre>void vTaskDelay( portTickType xTicksToDelay );</pre>
- *
- * Delay a task for a given number of ticks.  The actual time that the
- * task remains blocked depends on the tick rate.  The constant
- * portTICK_RATE_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
- *
- * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- *
- * vTaskDelay() specifies a time at which the task wishes to unblock relative to
- * the time at which vTaskDelay() is called.  For example, specifying a block
- * period of 100 ticks will cause the task to unblock 100 ticks after
- * vTaskDelay() is called.  vTaskDelay() does not therefore provide a good method
- * of controlling the frequency of a cyclical task as the path taken through the
- * code, as well as other task and interrupt activity, will effect the frequency
- * at which vTaskDelay() gets called and therefore the time at which the task
- * next executes.  See vTaskDelayUntil() for an alternative API function designed
- * to facilitate fixed frequency execution.  It does this by specifying an
- * absolute time (rather than a relative time) at which the calling task should
- * unblock.
- *
- * @param xTicksToDelay The amount of time, in tick periods, that
- * the calling task should block.
- *
- * Example usage:
-
- void vTaskFunction( void * pvParameters )
- {
- void vTaskFunction( void * pvParameters )
- {
- // Block for 500ms.
- const portTickType xDelay = 500 / portTICK_RATE_MS;
-
-	 for( ;; )
-	 {
-		 // Simply toggle the LED every 500ms, blocking between each toggle.
-		 vToggleLED();
-		 vTaskDelay( xDelay );
-	 }
- }
-
- * \defgroup vTaskDelay vTaskDelay
- * \ingroup TaskCtrl
- */
-void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );</pre>
- *
- * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Delay a task until a specified time.  This function can be used by cyclical
- * tasks to ensure a constant execution frequency.
- *
- * This function differs from vTaskDelay () in one important aspect:  vTaskDelay () will
- * cause a task to block for the specified number of ticks from the time vTaskDelay () is
- * called.  It is therefore difficult to use vTaskDelay () by itself to generate a fixed
- * execution frequency as the time between a task starting to execute and that task
- * calling vTaskDelay () may not be fixed [the task may take a different path though the
- * code between calls, or may get interrupted or preempted a different number of times
- * each time it executes].
- *
- * Whereas vTaskDelay () specifies a wake time relative to the time at which the function
- * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
- * unblock.
- *
- * The constant portTICK_RATE_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
- *
- * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
- * task was last unblocked.  The variable must be initialised with the current time
- * prior to its first use (see the example below).  Following this the variable is
- * automatically updated within vTaskDelayUntil ().
- *
- * @param xTimeIncrement The cycle time period.  The task will be unblocked at
- * time *pxPreviousWakeTime + xTimeIncrement.  Calling vTaskDelayUntil with the
- * same xTimeIncrement parameter value will cause the task to execute with
- * a fixed interface period.
- *
- * Example usage:
-   <pre>
- // Perform an action every 10 ticks.
- void vTaskFunction( void * pvParameters )
- {
- portTickType xLastWakeTime;
- const portTickType xFrequency = 10;
-
-	 // Initialise the xLastWakeTime variable with the current time.
-	 xLastWakeTime = xTaskGetTickCount ();
-	 for( ;; )
-	 {
-		 // Wait for the next cycle.
-		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
-
-		 // Perform action here.
-	 }
- }
-   </pre>
- * \defgroup vTaskDelayUntil vTaskDelayUntil
- * \ingroup TaskCtrl
- */
-void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>
- *
- * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Obtain the priority of any task.
- *
- * @param pxTask Handle of the task to be queried.  Passing a NULL
- * handle results in the priority of the calling task being returned.
- *
- * @return The priority of pxTask.
- *
- * Example usage:
-   <pre>
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to obtain the priority of the created task.
-	 // It was created with tskIDLE_PRIORITY, but may have changed
-	 // it itself.
-	 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
-	 {
-		 // The task has changed it's priority.
-	 }
-
-	 // ...
-
-	 // Is our priority higher than the created task?
-	 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
-	 {
-		 // Our priority (obtained using NULL handle) is higher.
-	 }
- }
-   </pre>
- * \defgroup uxTaskPriorityGet uxTaskPriorityGet
- * \ingroup TaskCtrl
- */
-unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>
- *
- * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Set the priority of any task.
- *
- * A context switch will occur before the function returns if the priority
- * being set is higher than the currently executing task.
- *
- * @param pxTask Handle to the task for which the priority is being set.
- * Passing a NULL handle results in the priority of the calling task being set.
- *
- * @param uxNewPriority The priority to which the task will be set.
- *
- * Example usage:
-   <pre>
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to raise the priority of the created task.
-	 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
-
-	 // ...
-
-	 // Use a NULL handle to raise our priority to the same value.
-	 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- }
-   </pre>
- * \defgroup vTaskPrioritySet vTaskPrioritySet
- * \ingroup TaskCtrl
- */
-void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>
- *
- * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Suspend any task.  When suspended a task will never get any microcontroller
- * processing time, no matter what its priority.
- *
- * Calls to vTaskSuspend are not accumulative -
- * i.e. calling vTaskSuspend () twice on the same task still only requires one
- * call to vTaskResume () to ready the suspended task.
- *
- * @param pxTaskToSuspend Handle to the task being suspended.  Passing a NULL
- * handle will cause the calling task to be suspended.
- *
- * Example usage:
-   <pre>
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Suspend ourselves.
-	 vTaskSuspend( NULL );
-
-	 // We cannot get here unless another task calls vTaskResume
-	 // with our handle as the parameter.
- }
-   </pre>
- * \defgroup vTaskSuspend vTaskSuspend
- * \ingroup TaskCtrl
- */
-void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>
- *
- * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Resumes a suspended task.
- *
- * A task that has been suspended by one of more calls to vTaskSuspend ()
- * will be made available for running again by a single call to
- * vTaskResume ().
- *
- * @param pxTaskToResume Handle to the task being readied.
- *
- * Example usage:
-   <pre>
- void vAFunction( void )
- {
- xTaskHandle xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Resume the suspended task ourselves.
-	 vTaskResume( xHandle );
-
-	 // The created task will once again get microcontroller processing
-	 // time in accordance with it priority within the system.
- }
-   </pre>
- * \defgroup vTaskResume vTaskResume
- * \ingroup TaskCtrl
- */
-void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>
- *
- * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
- * available.  See the configuration section for more information.
- *
- * An implementation of vTaskResume() that can be called from within an ISR.
- *
- * A task that has been suspended by one of more calls to vTaskSuspend ()
- * will be made available for running again by a single call to
- * xTaskResumeFromISR ().
- *
- * @param pxTaskToResume Handle to the task being readied.
- *
- * \defgroup vTaskResumeFromISR vTaskResumeFromISR
- * \ingroup TaskCtrl
- */
-portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * SCHEDULER CONTROL
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <pre>void vTaskStartScheduler( void );</pre>
- *
- * Starts the real time kernel tick processing.  After calling the kernel
- * has control over which tasks are executed and when.  This function
- * does not return until an executing task calls vTaskEndScheduler ().
- *
- * At least one task should be created via a call to xTaskCreate ()
- * before calling vTaskStartScheduler ().  The idle task is created
- * automatically when the first application task is created.
- *
- * See the demo application file main.c for an example of creating
- * tasks and starting the kernel.
- *
- * Example usage:
-   <pre>
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will not get here unless a task calls vTaskEndScheduler ()
- }
-   </pre>
- *
- * \defgroup vTaskStartScheduler vTaskStartScheduler
- * \ingroup SchedulerControl
- */
-void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskEndScheduler( void );</pre>
- *
- * Stops the real time kernel tick.  All created tasks will be automatically
- * deleted and multitasking (either preemptive or cooperative) will
- * stop.  Execution then resumes from the point where vTaskStartScheduler ()
- * was called, as if vTaskStartScheduler () had just returned.
- *
- * See the demo application file main. c in the demo/PC directory for an
- * example that uses vTaskEndScheduler ().
- *
- * vTaskEndScheduler () requires an exit function to be defined within the
- * portable layer (see vPortEndScheduler () in port. c for the PC port).  This
- * performs hardware specific operations such as stopping the kernel tick.
- *
- * vTaskEndScheduler () will cause all of the resources allocated by the
- * kernel to be freed - but will not free resources allocated by application
- * tasks.
- *
- * Example usage:
-   <pre>
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // At some point we want to end the real time kernel processing
-		 // so call ...
-		 vTaskEndScheduler ();
-	 }
- }
-
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will only get here when the vTaskCode () task has called
-	 // vTaskEndScheduler ().  When we get here we are back to single task
-	 // execution.
- }
-   </pre>
- *
- * \defgroup vTaskEndScheduler vTaskEndScheduler
- * \ingroup SchedulerControl
- */
-void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskSuspendAll( void );</pre>
- *
- * Suspends all real time kernel activity while keeping interrupts (including the
- * kernel tick) enabled.
- *
- * After calling vTaskSuspendAll () the calling task will continue to execute
- * without risk of being swapped out until a call to xTaskResumeAll () has been
- * made.
- *
- * API functions that have the potential to cause a context switch (for example,
- * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
- * is suspended.
- *
- * Example usage:
-   <pre>
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the kernel
-		 // tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.
-		 xTaskResumeAll ();
-	 }
- }
-   </pre>
- * \defgroup vTaskSuspendAll vTaskSuspendAll
- * \ingroup SchedulerControl
- */
-void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>char xTaskResumeAll( void );</pre>
- *
- * Resumes real time kernel activity following a call to vTaskSuspendAll ().
- * After a call to vTaskSuspendAll () the kernel will take control of which
- * task is executing at any time.
- *
- * @return If resuming the scheduler caused a context switch then pdTRUE is
- *		  returned, otherwise pdFALSE is returned.
- *
- * Example usage:
-   <pre>
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the real
-		 // time kernel tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.  We want to force
-		 // a context switch - but there is no point if resuming the scheduler
-		 // caused a context switch already.
-		 if( !xTaskResumeAll () )
-		 {
-			  taskYIELD ();
-		 }
-	 }
- }
-   </pre>
- * \defgroup xTaskResumeAll xTaskResumeAll
- * \ingroup SchedulerControl
- */
-signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );</pre>
- *
- * Utility task that simply returns pdTRUE if the task referenced by xTask is
- * currently in the Suspended state, or pdFALSE if the task referenced by xTask
- * is in any other state.
- *
- */
-signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * TASK UTILITIES
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <PRE>volatile portTickType xTaskGetTickCount( void );</PRE>
- *
- * @return The count of ticks since vTaskStartScheduler was called.
- *
- * \page xTaskGetTickCount xTaskGetTickCount
- * \ingroup TaskUtils
- */
-portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>unsigned short uxTaskGetNumberOfTasks( void );</PRE>
- *
- * @return The number of tasks that the real time kernel is currently managing.
- * This includes all ready, blocked and suspended tasks.  A task that
- * has been deleted but not yet freed by the idle task will also be
- * included in the count.
- *
- * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
- * \ingroup TaskUtils
- */
-unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>void vTaskList( char *pcWriteBuffer );</PRE>
- *
- * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
- * available.  See the configuration section for more information.
- *
- * NOTE: This function will disable interrupts for its duration.  It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Lists all the current tasks, along with their current state and stack
- * usage high water mark.
- *
- * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
- * suspended ('S').
- *
- * @param pcWriteBuffer A buffer into which the above mentioned details
- * will be written, in ascii form.  This buffer is assumed to be large
- * enough to contain the generated report.  Approximately 40 bytes per
- * task should be sufficient.
- *
- * \page vTaskList vTaskList
- * \ingroup TaskUtils
- */
-void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>void vTaskGetRunTimeStats( char *pcWriteBuffer );</PRE>
- *
- * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function
- * to be available.  The application must also then provide definitions
- * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
- * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter
- * and return the timers current count value respectively.  The counter
- * should be at least 10 times the frequency of the tick count.
- *
- * NOTE: This function will disable interrupts for its duration.  It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
- * accumulated execution time being stored for each task.  The resolution
- * of the accumulated time value depends on the frequency of the timer
- * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
- * Calling vTaskGetRunTimeStats() writes the total execution time of each
- * task into a buffer, both as an absolute count value and as a percentage
- * of the total system execution time.
- *
- * @param pcWriteBuffer A buffer into which the execution times will be
- * written, in ascii form.  This buffer is assumed to be large enough to
- * contain the generated report.  Approximately 40 bytes per task should
- * be sufficient.
- *
- * \page vTaskGetRunTimeStats vTaskGetRunTimeStats
- * \ingroup TaskUtils
- */
-void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );</PRE>
- *
- * Starts a real time kernel activity trace.  The trace logs the identity of
- * which task is running when.
- *
- * The trace file is stored in binary format.  A separate DOS utility called
- * convtrce.exe is used to convert this into a tab delimited text file which
- * can be viewed and plotted in a spread sheet.
- *
- * @param pcBuffer The buffer into which the trace will be written.
- *
- * @param ulBufferSize The size of pcBuffer in bytes.  The trace will continue
- * until either the buffer in full, or ulTaskEndTrace () is called.
- *
- * \page vTaskStartTrace vTaskStartTrace
- * \ingroup TaskUtils
- */
-void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>unsigned long ulTaskEndTrace( void );</PRE>
- *
- * Stops a kernel activity trace.  See vTaskStartTrace ().
- *
- * @return The number of bytes that have been written into the trace buffer.
- *
- * \page usTaskEndTrace usTaskEndTrace
- * \ingroup TaskUtils
- */
-unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
- *
- * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
- * this function to be available.
- *
- * Returns the high water mark of the stack associated with xTask.  That is,
- * the minimum free stack space there has been (in bytes) since the task
- * started.  The smaller the returned number the closer the task has come
- * to overflowing its stack.
- *
- * @param xTask Handle of the task associated with the stack to be checked.
- * Set xTask to NULL to check the stack of the calling task.
- *
- * @return The smallest amount of free stack space there has been (in bytes)
- * since the task referenced by xTask was created.
- */
-unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <pre>void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
- *
- * Sets pxHookFunction to be the task hook function used by the task xTask.
- * Passing xTask as NULL has the effect of setting the calling tasks hook
- * function.
- */
-void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <pre>void xTaskGetApplicationTaskTag( xTaskHandle xTask );</pre>
- *
- * Returns the pxHookFunction value assigned to the task xTask.
- */
-pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <pre>portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
- *
- * Calls the hook function associated with xTask.  Passing xTask as NULL has
- * the effect of calling the Running tasks (the calling task) hook function.
- *
- * pvParameter is passed to the hook function for the task to interpret as it
- * wants.
- */
-portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
-
-
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- *----------------------------------------------------------*/
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Called from the real time kernel tick (either preemptive or cooperative),
- * this increments the tick count and checks if any tasks that are blocked
- * for a finite period required removing from a blocked list and placing on
- * a ready list.
- */
-void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes the calling task from the ready list and places it both
- * on the list of tasks waiting for a particular event, and the
- * list of delayed tasks.  The task will be removed from both lists
- * and replaced on the ready list should either the event occur (and
- * there be no higher priority tasks waiting on the same event) or
- * the delay period expires.
- *
- * @param pxEventList The list containing tasks that are blocked waiting
- * for the event to occur.
- *
- * @param xTicksToWait The maximum amount of time that the task should wait
- * for the event to occur.  This is specified in kernel ticks,the constant
- * portTICK_RATE_MS can be used to convert kernel ticks into a real time
- * period.
- */
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes a task from both the specified event list and the list of blocked
- * tasks, and places it on a ready queue.
- *
- * xTaskRemoveFromEventList () will be called if either an event occurs to
- * unblock a task, or the block timeout period expires.
- *
- * @return pdTRUE if the task being removed has a higher priority than the task
- * making the call, otherwise pdFALSE.
- */
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1
- * for this function to be available.
- * See the configuration section for more information.
- *
- * Empties the ready and delayed queues of task control blocks, freeing the
- * memory allocated for the task control block and task stacks as it goes.
- */
-void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Sets the pointer to the current TCB to the TCB of the highest priority task
- * that is ready to run.
- */
-void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Return the handle of the calling task.
- */
-xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Capture the current time status for future reference.
- */
-void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-/*
- * Compare the time status now with that previously captured to see if the
- * timeout has expired.
- */
-portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION;
-
-/*
- * Shortcut used by the queue implementation to prevent unnecessary call to
- * taskYIELD();
- */
-void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Returns the scheduler state as taskSCHEDULER_RUNNING,
- * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
- */
-portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Raises the priority of the mutex holder to that of the calling task should
- * the mutex holder have a priority less than the calling task.
- */
-void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * Set the priority of a task back to its proper priority in the case that it
- * inherited a higher priority while it was holding a semaphore.
- */
-void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * Generic version of the task creation function which is in turn called by the
- * xTaskCreate() and xTaskCreateRestricted() macros.
- */
-signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* TASK_H */
-
-
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/list.c b/flight/PiOS/posix/Libraries/FreeRTOS/Source/list.c
deleted file mode 100644
index fe970ee1a..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/list.c
+++ /dev/null
@@ -1,191 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-#include <stdlib.h>
-#include "FreeRTOS.h"
-#include "list.h"
-
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
-
-void vListInitialise( xList *pxList )
-{
-	/* The list structure contains a list item which is used to mark the
-	end of the list.  To initialise the list the list end is inserted
-	as the only list entry. */
-	pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );
-
-	/* The list end value is the highest possible value in the list to
-	ensure it remains at the end of the list. */
-	pxList->xListEnd.xItemValue = portMAX_DELAY;
-
-	/* The list end next and previous pointers point to itself so we know
-	when the list is empty. */
-	pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );
-	pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );
-
-	pxList->uxNumberOfItems = 0;
-}
-/*-----------------------------------------------------------*/
-
-void vListInitialiseItem( xListItem *pxItem )
-{
-	/* Make sure the list item is not recorded as being on a list. */
-	pxItem->pvContainer = NULL;
-}
-/*-----------------------------------------------------------*/
-
-void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )
-{
-volatile xListItem * pxIndex;
-
-	/* Insert a new list item into pxList, but rather than sort the list,
-	makes the new list item the last item to be removed by a call to
-	pvListGetOwnerOfNextEntry.  This means it has to be the item pointed to by
-	the pxIndex member. */
-	pxIndex = pxList->pxIndex;
-
-	pxNewListItem->pxNext = pxIndex->pxNext;
-	pxNewListItem->pxPrevious = pxList->pxIndex;
-	pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
-	pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;
-	pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;
-
-	/* Remember which list the item is in. */
-	pxNewListItem->pvContainer = ( void * ) pxList;
-
-	( pxList->uxNumberOfItems )++;
-}
-/*-----------------------------------------------------------*/
-
-void vListInsert( xList *pxList, xListItem *pxNewListItem )
-{
-volatile xListItem *pxIterator;
-portTickType xValueOfInsertion;
-
-	/* Insert the new list item into the list, sorted in ulListItem order. */
-	xValueOfInsertion = pxNewListItem->xItemValue;
-
-	/* If the list already contains a list item with the same item value then
-	the new list item should be placed after it.  This ensures that TCB's which
-	are stored in ready lists (all of which have the same ulListItem value)
-	get an equal share of the CPU.  However, if the xItemValue is the same as 
-	the back marker the iteration loop below will not end.  This means we need
-	to guard against this by checking the value first and modifying the 
-	algorithm slightly if necessary. */
-	if( xValueOfInsertion == portMAX_DELAY )
-	{
-		pxIterator = pxList->xListEnd.pxPrevious;
-	}
-	else
-	{
-		/* *** NOTE ***********************************************************
-		If you find your application is crashing here then likely causes are:
-			1) Stack overflow - 
-			   see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
-			2) Incorrect interrupt priority assignment, especially on Cortex M3 
-			   parts where numerically high priority values denote low actual 
-			   interrupt priories, which can seem counter intuitive.  See 
-			   configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
-			3) Calling an API function from within a critical section or when
-			   the scheduler is suspended.
-			4) Using a queue or semaphore before it has been initialised or
-			   before the scheduler has been started (are interrupts firing
-			   before vTaskStartScheduler() has been called?).
-		See http://www.freertos.org/FAQHelp.html for more tips. 
-		**********************************************************************/
-		
-		for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
-		{
-			/* There is nothing to do here, we are just iterating to the
-			wanted insertion position. */
-		}
-	}
-
-	pxNewListItem->pxNext = pxIterator->pxNext;
-	pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
-	pxNewListItem->pxPrevious = pxIterator;
-	pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;
-
-	/* Remember which list the item is in.  This allows fast removal of the
-	item later. */
-	pxNewListItem->pvContainer = ( void * ) pxList;
-
-	( pxList->uxNumberOfItems )++;
-}
-/*-----------------------------------------------------------*/
-
-void vListRemove( xListItem *pxItemToRemove )
-{
-xList * pxList;
-
-	pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
-	pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
-	
-	/* The list item knows which list it is in.  Obtain the list from the list
-	item. */
-	pxList = ( xList * ) pxItemToRemove->pvContainer;
-
-	/* Make sure the index is left pointing to a valid item. */
-	if( pxList->pxIndex == pxItemToRemove )
-	{
-		pxList->pxIndex = pxItemToRemove->pxPrevious;
-	}
-
-	pxItemToRemove->pvContainer = NULL;
-	( pxList->uxNumberOfItems )--;
-}
-/*-----------------------------------------------------------*/
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS/posix/Libraries/FreeRTOS/Source/queue.c
deleted file mode 100644
index 7258f7a3e..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/queue.c
+++ /dev/null
@@ -1,1465 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-#include <stdlib.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "croutine.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
-
-/* Constants used with the cRxLock and cTxLock structure members. */
-#define queueUNLOCKED					( ( signed portBASE_TYPE ) -1 )
-#define queueLOCKED_UNMODIFIED			( ( signed portBASE_TYPE ) 0 )
-
-#define queueERRONEOUS_UNBLOCK			( -1 )
-
-/* For internal use only. */
-#define	queueSEND_TO_BACK				( 0 )
-#define	queueSEND_TO_FRONT				( 1 )
-
-/* Effectively make a union out of the xQUEUE structure. */
-#define pxMutexHolder					pcTail
-#define uxQueueType						pcHead
-#define uxRecursiveCallCount			pcReadFrom
-#define queueQUEUE_IS_MUTEX				NULL
-
-/* Semaphores do not actually store or copy data, so have an items size of
-zero. */
-#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )
-#define queueDONT_BLOCK					 ( ( portTickType ) 0 )
-#define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0 )
-
-/*
- * Definition of the queue used by the scheduler.
- * Items are queued by copy, not reference.
- */
-typedef struct QueueDefinition
-{
-	signed char *pcHead;				/*< Points to the beginning of the queue storage area. */
-	signed char *pcTail;				/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
-
-	signed char *pcWriteTo;				/*< Points to the free next place in the storage area. */
-	signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from. */
-
-	xList xTasksWaitingToSend;				/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
-	xList xTasksWaitingToReceive;			/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
-
-	volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
-	unsigned portBASE_TYPE uxLength;		/*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
-	unsigned portBASE_TYPE uxItemSize;		/*< The size of each items that the queue will hold. */
-
-	signed portBASE_TYPE xRxLock;			/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-	signed portBASE_TYPE xTxLock;			/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-
-} xQUEUE;
-/*-----------------------------------------------------------*/
-
-/*
- * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
- * To keep the definition private the API header file defines it as a
- * pointer to void.
- */
-typedef xQUEUE * xQueueHandle;
-
-/*
- * Prototypes for public functions are included here so we don't have to
- * include the API header file (as it defines xQueueHandle differently).  These
- * functions are documented in the API header file.
- */
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateMutex( void ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Co-routine queue functions differ from task queue functions.  Co-routines are
- * an optional component.
- */
-#if configUSE_CO_ROUTINES == 1
-	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * The queue registry is just a means for kernel aware debuggers to locate
- * queue structures.  It has no other purpose so is an optional component.
- */
-#if configQUEUE_REGISTRY_SIZE > 0
-
-	/* The type stored within the queue registry array.  This allows a name
-	to be assigned to each queue making kernel aware debugging a little
-	more user friendly. */
-	typedef struct QUEUE_REGISTRY_ITEM
-	{
-		signed char *pcQueueName;
-		xQueueHandle xHandle;
-	} xQueueRegistryItem;
-
-	/* The queue registry is simply an array of xQueueRegistryItem structures.
-	The pcQueueName member of a structure being NULL is indicative of the
-	array position being vacant. */
-	xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
-
-	/* Removes a queue from the registry by simply setting the pcQueueName
-	member to NULL. */
-	static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * Unlocks a queue locked by a call to prvLockQueue.  Locking a queue does not
- * prevent an ISR from adding or removing items to the queue, but does prevent
- * an ISR from removing tasks from the queue event lists.  If an ISR finds a
- * queue is locked it will instead increment the appropriate queue lock count
- * to indicate that a task may require unblocking.  When the queue in unlocked
- * these lock counts are inspected, and the appropriate action taken.
- */
-static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Uses a critical section to determine if there is any data in a queue.
- *
- * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
- */
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Uses a critical section to determine if there is any space in a queue.
- *
- * @return pdTRUE if there is no space, otherwise pdFALSE;
- */
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Copies an item into the queue, either at the front of the queue or the
- * back of the queue.
- */
-static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) PRIVILEGED_FUNCTION;
-
-/*
- * Copies an item out of a queue.
- */
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
-/*-----------------------------------------------------------*/
-
-/*
- * Macro to mark a queue as locked.  Locking a queue prevents an ISR from
- * accessing the queue event lists.
- */
-#define prvLockQueue( pxQueue )							\
-{														\
-	taskENTER_CRITICAL();								\
-	{													\
-		if( pxQueue->xRxLock == queueUNLOCKED )			\
-		{												\
-			pxQueue->xRxLock = queueLOCKED_UNMODIFIED;	\
-		}												\
-		if( pxQueue->xTxLock == queueUNLOCKED )			\
-		{												\
-			pxQueue->xTxLock = queueLOCKED_UNMODIFIED;	\
-		}												\
-	}													\
-	taskEXIT_CRITICAL();								\
-}
-/*-----------------------------------------------------------*/
-
-
-/*-----------------------------------------------------------
- * PUBLIC QUEUE MANAGEMENT API documented in queue.h
- *----------------------------------------------------------*/
-
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize )
-{
-xQUEUE *pxNewQueue;
-size_t xQueueSizeInBytes;
-
-	/* Allocate the new queue structure. */
-	if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )
-	{
-		pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
-		if( pxNewQueue != NULL )
-		{
-			/* Create the list of pointers to queue items.  The queue is one byte
-			longer than asked for to make wrap checking easier/faster. */
-			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;
-
-			pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
-			if( pxNewQueue->pcHead != NULL )
-			{
-				/* Initialise the queue members as described above where the
-				queue type is defined. */
-				pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize );
-				pxNewQueue->uxMessagesWaiting = 0;
-				pxNewQueue->pcWriteTo = pxNewQueue->pcHead;
-				pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize );
-				pxNewQueue->uxLength = uxQueueLength;
-				pxNewQueue->uxItemSize = uxItemSize;
-				pxNewQueue->xRxLock = queueUNLOCKED;
-				pxNewQueue->xTxLock = queueUNLOCKED;
-
-				/* Likewise ensure the event queues start with the correct state. */
-				vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
-				vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
-
-				traceQUEUE_CREATE( pxNewQueue );
-				return  pxNewQueue;
-			}
-			else
-			{
-				traceQUEUE_CREATE_FAILED();
-				vPortFree( pxNewQueue );
-			}
-		}
-	}
-
-	/* Will only reach here if we could not allocate enough memory or no memory
-	was required. */
-	return NULL;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
-	xQueueHandle xQueueCreateMutex( void )
-	{
-	xQUEUE *pxNewQueue;
-
-		/* Allocate the new queue structure. */
-		pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
-		if( pxNewQueue != NULL )
-		{
-			/* Information required for priority inheritance. */
-			pxNewQueue->pxMutexHolder = NULL;
-			pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
-
-			/* Queues used as a mutex no data is actually copied into or out
-			of the queue. */
-			pxNewQueue->pcWriteTo = NULL;
-			pxNewQueue->pcReadFrom = NULL;
-
-			/* Each mutex has a length of 1 (like a binary semaphore) and
-			an item size of 0 as nothing is actually copied into or out
-			of the mutex. */
-			pxNewQueue->uxMessagesWaiting = 0;
-			pxNewQueue->uxLength = 1;
-			pxNewQueue->uxItemSize = 0;
-			pxNewQueue->xRxLock = queueUNLOCKED;
-			pxNewQueue->xTxLock = queueUNLOCKED;
-
-			/* Ensure the event queues start with the correct state. */
-			vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
-			vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
-
-			/* Start with the semaphore in the expected state. */
-			xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );
-
-			traceCREATE_MUTEX( pxNewQueue );
-		}
-		else
-		{
-			traceCREATE_MUTEX_FAILED();
-		}
-
-		return pxNewQueue;
-	}
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if configUSE_RECURSIVE_MUTEXES == 1
-
-	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
-	{
-	portBASE_TYPE xReturn;
-
-		/* If this is the task that holds the mutex then pxMutexHolder will not
-		change outside of this task.  If this task does not hold the mutex then
-		pxMutexHolder can never coincidentally equal the tasks handle, and as
-		this is the only condition we are interested in it does not matter if
-		pxMutexHolder is accessed simultaneously by another task.  Therefore no
-		mutual exclusion is required to test the pxMutexHolder variable. */
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
-		{
-			traceGIVE_MUTEX_RECURSIVE( pxMutex );
-
-			/* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to
-			the task handle, therefore no underflow check is required.  Also,
-			uxRecursiveCallCount is only modified by the mutex holder, and as
-			there can only be one, no mutual exclusion is required to modify the
-			uxRecursiveCallCount member. */
-			( pxMutex->uxRecursiveCallCount )--;
-
-			/* Have we unwound the call count? */
-			if( pxMutex->uxRecursiveCallCount == 0 )
-			{
-				/* Return the mutex.  This will automatically unblock any other
-				task that might be waiting to access the mutex. */
-				xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
-			}
-
-			xReturn = pdPASS;
-		}
-		else
-		{
-			/* We cannot give the mutex because we are not the holder. */
-			xReturn = pdFAIL;
-
-			traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
-		}
-
-		return xReturn;
-	}
-
-#endif /* configUSE_RECURSIVE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if configUSE_RECURSIVE_MUTEXES == 1
-
-	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
-	{
-	portBASE_TYPE xReturn;
-
-		/* Comments regarding mutual exclusion as per those within
-		xQueueGiveMutexRecursive(). */
-
-		traceTAKE_MUTEX_RECURSIVE( pxMutex );
-
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
-		{
-			( pxMutex->uxRecursiveCallCount )++;
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );
-
-			/* pdPASS will only be returned if we successfully obtained the mutex,
-			we may have blocked to reach here. */
-			if( xReturn == pdPASS )
-			{
-				( pxMutex->uxRecursiveCallCount )++;
-			}
-		}
-
-		return xReturn;
-	}
-
-#endif /* configUSE_RECURSIVE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if configUSE_COUNTING_SEMAPHORES == 1
-
-	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
-	{
-	xQueueHandle pxHandle;
-
-		pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH );
-
-		if( pxHandle != NULL )
-		{
-			pxHandle->uxMessagesWaiting = uxInitialCount;
-
-			traceCREATE_COUNTING_SEMAPHORE();
-		}
-		else
-		{
-			traceCREATE_COUNTING_SEMAPHORE_FAILED();
-		}
-
-		return pxHandle;
-	}
-
-#endif /* configUSE_COUNTING_SEMAPHORES */
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
-{
-signed portBASE_TYPE xEntryTimeSet = pdFALSE;
-xTimeOutType xTimeOut;
-
-	/* This function relaxes the coding standard somewhat to allow return
-	statements within the function itself.  This is done in the interest
-	of execution time efficiency. */
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			/* Is there room on the queue now?  To be running we must be
-			the highest priority task wanting to access the queue. */
-			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-			{
-				traceQUEUE_SEND( pxQueue );
-				prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
-				/* If there was a task waiting for data to arrive on the
-				queue then unblock it now. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
-					{
-						/* The unblocked task has a priority higher than
-						our own so yield immediately.  Yes it is ok to do
-						this from within the critical section - the kernel
-						takes care of that. */
-						portYIELD_WITHIN_API();
-					}
-				}
-
-				taskEXIT_CRITICAL();
-
-				/* Return to the original privilege level before exiting the
-				function. */
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( portTickType ) 0 )
-				{
-					/* The queue was full and no block time is specified (or
-					the block time has expired) so leave now. */
-					taskEXIT_CRITICAL();
-
-					/* Return to the original privilege level before exiting
-					the function. */
-					traceQUEUE_SEND_FAILED( pxQueue );
-					return errQUEUE_FULL;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The queue was full and a block time was specified so
-					configure the timeout structure. */
-					vTaskSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
-
-		/* Interrupts and other tasks can send to and receive from the queue
-		now the critical section has been exited. */
-
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
-
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			if( prvIsQueueFull( pxQueue ) )
-			{
-				traceBLOCKING_ON_QUEUE_SEND( pxQueue );
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
-
-				/* Unlocking the queue means queue events can effect the
-				event list.  It is possible	that interrupts occurring now
-				remove this task from the event	list again - but as the
-				scheduler is suspended the task will go onto the pending
-				ready last instead of the actual ready list. */
-				prvUnlockQueue( pxQueue );
-
-				/* Resuming the scheduler will move tasks from the pending
-				ready list into the ready list - so it is feasible that this
-				task is already in a ready list before it yields - in which
-				case the yield will not cause a context switch unless there
-				is also a higher priority task in the pending ready list. */
-				if( !xTaskResumeAll() )
-				{
-					portYIELD_WITHIN_API();
-				}
-			}
-			else
-			{
-				/* Try again. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			/* The timeout has expired. */
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
-
-			/* Return to the original privilege level before exiting the
-			function. */
-			traceQUEUE_SEND_FAILED( pxQueue );
-			return errQUEUE_FULL;
-		}
-	}
-}
-/*-----------------------------------------------------------*/
-
-#if configUSE_ALTERNATIVE_API == 1
-
-	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
-	{
-	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
-	xTimeOutType xTimeOut;
-
-		for( ;; )
-		{
-			taskENTER_CRITICAL();
-			{
-				/* Is there room on the queue now?  To be running we must be
-				the highest priority task wanting to access the queue. */
-				if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-				{
-					traceQUEUE_SEND( pxQueue );
-					prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
-					/* If there was a task waiting for data to arrive on the
-					queue then unblock it now. */
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
-						{
-							/* The unblocked task has a priority higher than
-							our own so yield immediately. */
-							portYIELD_WITHIN_API();
-						}
-					}
-
-					taskEXIT_CRITICAL();
-					return pdPASS;
-				}
-				else
-				{
-					if( xTicksToWait == ( portTickType ) 0 )
-					{
-						taskEXIT_CRITICAL();
-						return errQUEUE_FULL;
-					}
-					else if( xEntryTimeSet == pdFALSE )
-					{
-						vTaskSetTimeOutState( &xTimeOut );
-						xEntryTimeSet = pdTRUE;
-					}
-				}
-			}
-			taskEXIT_CRITICAL();
-
-			taskENTER_CRITICAL();
-			{
-				if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-				{
-					if( prvIsQueueFull( pxQueue ) )
-					{
-						traceBLOCKING_ON_QUEUE_SEND( pxQueue );
-						vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
-						portYIELD_WITHIN_API();
-					}
-				}
-				else
-				{
-					taskEXIT_CRITICAL();
-					traceQUEUE_SEND_FAILED( pxQueue );
-					return errQUEUE_FULL;
-				}
-			}
-			taskEXIT_CRITICAL();
-		}
-	}
-
-#endif /* configUSE_ALTERNATIVE_API */
-/*-----------------------------------------------------------*/
-
-#if configUSE_ALTERNATIVE_API == 1
-
-	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
-	{
-	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
-	xTimeOutType xTimeOut;
-	signed char *pcOriginalReadPosition;
-
-		for( ;; )
-		{
-			taskENTER_CRITICAL();
-			{
-				if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-				{
-					/* Remember our read position in case we are just peeking. */
-					pcOriginalReadPosition = pxQueue->pcReadFrom;
-
-					prvCopyDataFromQueue( pxQueue, pvBuffer );
-
-					if( xJustPeeking == pdFALSE )
-					{
-						traceQUEUE_RECEIVE( pxQueue );
-
-						/* We are actually removing data. */
-						--( pxQueue->uxMessagesWaiting );
-
-						#if ( configUSE_MUTEXES == 1 )
-						{
-							if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-							{
-								/* Record the information required to implement
-								priority inheritance should it become necessary. */
-								pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
-							}
-						}
-						#endif
-
-						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-						{
-							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
-							{
-								portYIELD_WITHIN_API();
-							}
-						}
-					}
-					else
-					{
-						traceQUEUE_PEEK( pxQueue );
-
-						/* We are not removing the data, so reset our read
-						pointer. */
-						pxQueue->pcReadFrom = pcOriginalReadPosition;
-
-						/* The data is being left in the queue, so see if there are
-						any other tasks waiting for the data. */
-						if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-						{
-							/* Tasks that are removed from the event list will get added to
-							the pending ready list as the scheduler is still suspended. */
-							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-							{
-								/* The task waiting has a higher priority than this task. */
-								portYIELD_WITHIN_API();
-							}
-						}
-
-					}
-
-					taskEXIT_CRITICAL();
-					return pdPASS;
-				}
-				else
-				{
-					if( xTicksToWait == ( portTickType ) 0 )
-					{
-						taskEXIT_CRITICAL();
-						traceQUEUE_RECEIVE_FAILED( pxQueue );
-						return errQUEUE_EMPTY;
-					}
-					else if( xEntryTimeSet == pdFALSE )
-					{
-						vTaskSetTimeOutState( &xTimeOut );
-						xEntryTimeSet = pdTRUE;
-					}
-				}
-			}
-			taskEXIT_CRITICAL();
-
-			taskENTER_CRITICAL();
-			{
-				if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-				{
-					if( prvIsQueueEmpty( pxQueue ) )
-					{
-						traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
-
-						#if ( configUSE_MUTEXES == 1 )
-						{
-							if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-							{
-								portENTER_CRITICAL();
-									vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
-								portEXIT_CRITICAL();
-							}
-						}
-						#endif
-
-						vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
-						portYIELD_WITHIN_API();
-					}
-				}
-				else
-				{
-					taskEXIT_CRITICAL();
-					traceQUEUE_RECEIVE_FAILED( pxQueue );
-					return errQUEUE_EMPTY;
-				}
-			}
-			taskEXIT_CRITICAL();
-		}
-	}
-
-
-#endif /* configUSE_ALTERNATIVE_API */
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
-{
-signed portBASE_TYPE xReturn;
-unsigned portBASE_TYPE uxSavedInterruptStatus;
-
-	/* Similar to xQueueGenericSend, except we don't block if there is no room
-	in the queue.  Also we don't directly wake a task that was blocked on a
-	queue read, instead we return a flag to say whether a context switch is
-	required or not (i.e. has a task with a higher priority than us been woken
-	by this	post). */
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-		{
-			traceQUEUE_SEND_FROM_ISR( pxQueue );
-
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
-			/* If the queue is locked we do not alter the event list.  This will
-			be done when the queue is unlocked later. */
-			if( pxQueue->xTxLock == queueUNLOCKED )
-			{
-				if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority so record that a
-						context	switch is required. */
-						*pxHigherPriorityTaskWoken = pdTRUE;
-					}
-				}
-			}
-			else
-			{
-				/* Increment the lock count so the task that unlocks the queue
-				knows that data was posted while it was locked. */
-				++( pxQueue->xTxLock );
-			}
-
-			xReturn = pdPASS;
-		}
-		else
-		{
-			traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
-			xReturn = errQUEUE_FULL;
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
-{
-signed portBASE_TYPE xEntryTimeSet = pdFALSE;
-xTimeOutType xTimeOut;
-signed char *pcOriginalReadPosition;
-
-	/* This function relaxes the coding standard somewhat to allow return
-	statements within the function itself.  This is done in the interest
-	of execution time efficiency. */
-
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			/* Is there data in the queue now?  To be running we must be
-			the highest priority task wanting to access the queue. */
-			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-			{
-				/* Remember our read position in case we are just peeking. */
-				pcOriginalReadPosition = pxQueue->pcReadFrom;
-
-				prvCopyDataFromQueue( pxQueue, pvBuffer );
-
-				if( xJustPeeking == pdFALSE )
-				{
-					traceQUEUE_RECEIVE( pxQueue );
-
-					/* We are actually removing data. */
-					--( pxQueue->uxMessagesWaiting );
-
-					#if ( configUSE_MUTEXES == 1 )
-					{
-						if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-						{
-							/* Record the information required to implement
-							priority inheritance should it become necessary. */
-							pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
-						}
-					}
-					#endif
-
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
-						{
-							portYIELD_WITHIN_API();
-						}
-					}
-				}
-				else
-				{
-					traceQUEUE_PEEK( pxQueue );
-
-					/* We are not removing the data, so reset our read
-					pointer. */
-					pxQueue->pcReadFrom = pcOriginalReadPosition;
-
-					/* The data is being left in the queue, so see if there are
-					any other tasks waiting for the data. */
-					if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-					{
-						/* Tasks that are removed from the event list will get added to
-						the pending ready list as the scheduler is still suspended. */
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-						{
-							/* The task waiting has a higher priority than this task. */
-							portYIELD_WITHIN_API();
-						}
-					}
-
-				}
-
-				taskEXIT_CRITICAL();
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( portTickType ) 0 )
-				{
-					/* The queue was empty and no block time is specified (or
-					the block time has expired) so leave now. */
-					taskEXIT_CRITICAL();
-					traceQUEUE_RECEIVE_FAILED( pxQueue );
-					return errQUEUE_EMPTY;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The queue was empty and a block time was specified so
-					configure the timeout structure. */
-					vTaskSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
-
-		/* Interrupts and other tasks can send to and receive from the queue
-		now the critical section has been exited. */
-
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
-
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			if( prvIsQueueEmpty( pxQueue ) )
-			{
-				traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
-
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-					{
-						portENTER_CRITICAL();
-						{
-							vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
-						}
-						portEXIT_CRITICAL();
-					}
-				}
-				#endif
-
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
-				prvUnlockQueue( pxQueue );
-				if( !xTaskResumeAll() )
-				{
-					portYIELD_WITHIN_API();
-				}
-			}
-			else
-			{
-				/* Try again. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
-			traceQUEUE_RECEIVE_FAILED( pxQueue );
-			return errQUEUE_EMPTY;
-		}
-	}
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken )
-{
-signed portBASE_TYPE xReturn;
-unsigned portBASE_TYPE uxSavedInterruptStatus;
-
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		/* We cannot block from an ISR, so check there is data available. */
-		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-		{
-			traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
-
-			prvCopyDataFromQueue( pxQueue, pvBuffer );
-			--( pxQueue->uxMessagesWaiting );
-
-			/* If the queue is locked we will not modify the event list.  Instead
-			we update the lock count so the task that unlocks the queue will know
-			that an ISR has removed data while the queue was locked. */
-			if( pxQueue->xRxLock == queueUNLOCKED )
-			{
-				if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority than us so
-						force a context switch. */
-						*pxTaskWoken = pdTRUE;
-					}
-				}
-			}
-			else
-			{
-				/* Increment the lock count so the task that unlocks the queue
-				knows that data was removed while it was locked. */
-				++( pxQueue->xRxLock );
-			}
-
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = pdFAIL;
-			traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
-{
-unsigned portBASE_TYPE uxReturn;
-
-	taskENTER_CRITICAL();
-		uxReturn = pxQueue->uxMessagesWaiting;
-	taskEXIT_CRITICAL();
-
-	return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
-{
-unsigned portBASE_TYPE uxReturn;
-
-	uxReturn = pxQueue->uxMessagesWaiting;
-
-	return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vQueueDelete( xQueueHandle pxQueue )
-{
-	traceQUEUE_DELETE( pxQueue );
-	vQueueUnregisterQueue( pxQueue );
-	vPortFree( pxQueue->pcHead );
-	vPortFree( pxQueue );
-}
-/*-----------------------------------------------------------*/
-
-static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
-{
-	if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 )
-	{
-		#if ( configUSE_MUTEXES == 1 )
-		{
-			if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-			{
-				/* The mutex is no longer being held. */
-				vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
-				pxQueue->pxMutexHolder = NULL;
-			}
-		}
-		#endif
-	}
-	else if( xPosition == queueSEND_TO_BACK )
-	{
-		memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
-		pxQueue->pcWriteTo += pxQueue->uxItemSize;
-		if( pxQueue->pcWriteTo >= pxQueue->pcTail )
-		{
-			pxQueue->pcWriteTo = pxQueue->pcHead;
-		}
-	}
-	else
-	{
-		memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
-		pxQueue->pcReadFrom -= pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom < pxQueue->pcHead )
-		{
-			pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
-		}
-	}
-
-	++( pxQueue->uxMessagesWaiting );
-}
-/*-----------------------------------------------------------*/
-
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
-{
-	if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
-	{
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
-		}
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-	}
-}
-/*-----------------------------------------------------------*/
-
-static void prvUnlockQueue( xQueueHandle pxQueue )
-{
-	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
-
-	/* The lock counts contains the number of extra data items placed or
-	removed from the queue while the queue was locked.  When a queue is
-	locked items can be added or removed, but the event lists cannot be
-	updated. */
-	taskENTER_CRITICAL();
-	{
-		/* See if data was added to the queue while it was locked. */
-		while( pxQueue->xTxLock > queueLOCKED_UNMODIFIED )
-		{
-			/* Data was posted while the queue was locked.  Are any tasks
-			blocked waiting for data to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-			{
-				/* Tasks that are removed from the event list will get added to
-				the pending ready list as the scheduler is still suspended. */
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					/* The task waiting has a higher priority so record that a
-					context	switch is required. */
-					vTaskMissedYield();
-				}
-
-				--( pxQueue->xTxLock );
-			}
-			else
-			{
-				break;
-			}
-		}
-
-		pxQueue->xTxLock = queueUNLOCKED;
-	}
-	taskEXIT_CRITICAL();
-
-	/* Do the same for the Rx lock. */
-	taskENTER_CRITICAL();
-	{
-		while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
-		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
-			{
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					vTaskMissedYield();
-				}
-
-				--( pxQueue->xRxLock );
-			}
-			else
-			{
-				break;
-			}
-		}
-
-		pxQueue->xRxLock = queueUNLOCKED;
-	}
-	taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
-
-	/* If the queue is already full we may have to block.  A critical section
-	is required to prevent an interrupt removing something from the queue
-	between the check to see if the queue is full and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
-	{
-		if( prvIsQueueFull( pxQueue ) )
-		{
-			/* The queue is full - do we want to block or just leave without
-			posting? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is called from a coroutine we cannot block directly, but
-				return indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
-			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
-			}
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
-
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-		{
-			/* There is room in the queue, copy the data into the queue. */
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for data to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					/* The co-routine waiting has a higher priority so record
-					that a yield might be appropriate. */
-					xReturn = errQUEUE_YIELD;
-				}
-			}
-		}
-		else
-		{
-			xReturn = errQUEUE_FULL;
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	return xReturn;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
-
-	/* If the queue is already empty we may have to block.  A critical section
-	is required to prevent an interrupt adding something to the queue
-	between the check to see if the queue is empty and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
-		{
-			/* There are no messages in the queue, do we want to block or just
-			leave with nothing? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is a co-routine we cannot block directly, but return
-				indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
-			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
-			}
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
-
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-		{
-			/* Data is available from the queue. */
-			pxQueue->pcReadFrom += pxQueue->uxItemSize;
-			if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-			{
-				pxQueue->pcReadFrom = pxQueue->pcHead;
-			}
-			--( pxQueue->uxMessagesWaiting );
-			memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for space to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					xReturn = errQUEUE_YIELD;
-				}
-			}
-		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	return xReturn;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
-{
-	/* Cannot block within an ISR so if there is no space on the queue then
-	exit without doing anything. */
-	if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-	{
-		prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-
-		/* We only want to wake one co-routine per ISR, so check that a
-		co-routine has not already been woken. */
-		if( !xCoRoutinePreviouslyWoken )
-		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					return pdTRUE;
-				}
-			}
-		}
-	}
-
-	return xCoRoutinePreviouslyWoken;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
-{
-signed portBASE_TYPE xReturn;
-
-	/* We cannot block from an ISR, so check there is data available. If
-	not then just leave without doing anything. */
-	if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-	{
-		/* Copy the data from the queue. */
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
-		}
-		--( pxQueue->uxMessagesWaiting );
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
-		if( !( *pxCoRoutineWoken ) )
-		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					*pxCoRoutineWoken = pdTRUE;
-				}
-			}
-		}
-
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = pdFAIL;
-	}
-
-	return xReturn;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configQUEUE_REGISTRY_SIZE > 0
-
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
-	{
-	unsigned portBASE_TYPE ux;
-
-		/* See if there is an empty space in the registry.  A NULL name denotes
-		a free slot. */
-		for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
-		{
-			if( xQueueRegistry[ ux ].pcQueueName == NULL )
-			{
-				/* Store the information on this queue. */
-				xQueueRegistry[ ux ].pcQueueName = pcQueueName;
-				xQueueRegistry[ ux ].xHandle = xQueue;
-				break;
-			}
-		}
-	}
-
-#endif
-	/*-----------------------------------------------------------*/
-
-#if configQUEUE_REGISTRY_SIZE > 0
-
-	static void vQueueUnregisterQueue( xQueueHandle xQueue )
-	{
-	unsigned portBASE_TYPE ux;
-
-		/* See if the handle of the queue being unregistered in actually in the
-		registry. */
-		for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
-		{
-			if( xQueueRegistry[ ux ].xHandle == xQueue )
-			{
-				/* Set the name to NULL to show that this slot if free again. */
-				xQueueRegistry[ ux ].pcQueueName = NULL;
-				break;
-			}
-		}
-
-	}
-
-#endif
-
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/posix/Libraries/FreeRTOS/Source/readme.txt
deleted file mode 100644
index 81518ecb4..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/readme.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-Each real time kernel port consists of three files that contain the core kernel
-components and are common to every port, and one or more files that are 
-specific to a particular microcontroller and or compiler.
-
-+ The FreeRTOS/Source directory contains the three files that are common to 
-every port - list.c, queue.c and tasks.c.  The kernel is contained within these 
-three files.  croutine.c implements the optional co-routine functionality - which
-is normally only used on very memory limited systems.
-
-+ The FreeRTOS/Source/Portable directory contains the files that are specific to 
-a particular microcontroller and or compiler.
-
-+ The FreeRTOS/Source/include directory contains the real time kernel header 
-files.
-
-See the readme file in the FreeRTOS/Source/Portable directory for more 
-information.
\ No newline at end of file
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/posix/Libraries/FreeRTOS/Source/tasks.c
deleted file mode 100644
index 1d6e7a17a..000000000
--- a/flight/PiOS/posix/Libraries/FreeRTOS/Source/tasks.c
+++ /dev/null
@@ -1,2323 +0,0 @@
-/*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
-
-    ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
-    ***************************************************************************
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
-
-    1 tab == 4 spaces!
-
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
-
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
-
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
-
-
-#include <stdio.h>
-#include <time.h>
-#include <stdlib.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "StackMacros.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/*
- * Macro to define the amount of stack available to the idle task.
- */
-#define tskIDLE_STACK_SIZE	configMINIMAL_STACK_SIZE
-
-/*
- * Task control block.  A task control block (TCB) is allocated to each task,
- * and stores the context of the task.
- */
-typedef struct tskTaskControlBlock
-{
-	volatile portSTACK_TYPE	*pxTopOfStack;		/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
-
-	#if ( portUSING_MPU_WRAPPERS == 1 )
-		xMPU_SETTINGS xMPUSettings;				/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
-	#endif	
-	
-	xListItem				xGenericListItem;	/*< List item used to place the TCB in ready and blocked queues. */
-	xListItem				xEventListItem;		/*< List item used to place the TCB in event lists. */
-	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task where 0 is the lowest priority. */
-	portSTACK_TYPE			*pxStack;			/*< Points to the start of the stack. */
-	signed char				pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */
-
-	#if ( portSTACK_GROWTH > 0 )
-		portSTACK_TYPE *pxEndOfStack;			/*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
-	#endif
-
-	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-		unsigned portBASE_TYPE uxCriticalNesting;
-	#endif
-
-	#if ( configUSE_TRACE_FACILITY == 1 )
-		unsigned portBASE_TYPE	uxTCBNumber;	/*< This is used for tracing the scheduler and making debugging easier only. */
-	#endif
-
-	#if ( configUSE_MUTEXES == 1 )
-		unsigned portBASE_TYPE uxBasePriority;	/*< The priority last assigned to the task - used by the priority inheritance mechanism. */
-	#endif
-
-	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-		pdTASK_HOOK_CODE pxTaskTag;
-	#endif
-
-	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-		unsigned long ulRunTimeCounter;		/*< Used for calculating how much CPU time each task is utilising. */
-	#endif
-
-} tskTCB;
-
-
-/*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
- */
-#ifdef portREMOVE_STATIC_QUALIFIER
-	#define static
-#endif
-
-/*lint -e956 */
-PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
-
-/* Lists for ready and blocked tasks. --------------------*/
-
-PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ];	/*< Prioritised ready tasks. */
-PRIVILEGED_DATA static xList xDelayedTaskList1;							/*< Delayed tasks. */
-PRIVILEGED_DATA static xList xDelayedTaskList2;							/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ;				/*< Points to the delayed task list currently being used. */
-PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready queue when the scheduler is resumed. */
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
-	PRIVILEGED_DATA static volatile xList xTasksWaitingTermination;		/*< Tasks that have been deleted - but the their memory not yet freed. */
-	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
-
-#endif
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
-	PRIVILEGED_DATA static xList xSuspendedTaskList;					/*< Tasks that are currently suspended. */
-
-#endif
-
-/* File private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks 	= ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portTickType xTickCount 						= ( portTickType ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority	 				= tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority 		= tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning 			= pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended	 	= ( unsigned portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks 			= ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield 						= ( portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows 					= ( portBASE_TYPE ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0;
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
-	PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;	/*< Holds the value of a timer/counter the last time a task was switched in. */
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/* Debugging and trace facilities private variables and macros. ------------*/
-
-/*
- * The value used to fill the stack of a task when the task is created.  This
- * is used purely for checking the high water mark for tasks.
- */
-#define tskSTACK_FILL_BYTE	( 0xa5 )
-
-/*
- * Macros used by vListTask to indicate which state a task is in.
- */
-#define tskBLOCKED_CHAR		( ( signed char ) 'B' )
-#define tskREADY_CHAR		( ( signed char ) 'R' )
-#define tskDELETED_CHAR		( ( signed char ) 'D' )
-#define tskSUSPENDED_CHAR	( ( signed char ) 'S' )
-
-/*
- * Macros and private variables used by the trace facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	#define tskSIZE_OF_EACH_TRACE_LINE			( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
-	PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
-	PRIVILEGED_DATA static signed char *pcTraceBufferStart;
-	PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
-	PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
-	static unsigned portBASE_TYPE uxPreviousTask = 255;
-	PRIVILEGED_DATA static char pcStatusString[ 50 ];
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-/*
- * Macro that writes a trace of scheduler activity to a buffer.  This trace
- * shows which task is running when and is very useful as a debugging tool.
- * As this macro is called each context switch it is a good idea to undefine
- * it if not using the facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	#define vWriteTraceToBuffer()																	\
-	{																								\
-		if( xTracing )																				\
-		{																							\
-			if( uxPreviousTask != pxCurrentTCB->uxTCBNumber )										\
-			{																						\
-				if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd )				\
-				{																					\
-					uxPreviousTask = pxCurrentTCB->uxTCBNumber;										\
-					*( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount;		\
-					pcTraceBuffer += sizeof( unsigned long );									\
-					*( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask;	\
-					pcTraceBuffer += sizeof( unsigned long );									\
-				}																					\
-				else																				\
-				{																					\
-					xTracing = pdFALSE;																\
-				}																					\
-			}																						\
-		}																							\
-	}
-
-#else
-
-	#define vWriteTraceToBuffer()
-
-#endif
-/*-----------------------------------------------------------*/
-
-/*
- * Place the task represented by pxTCB into the appropriate ready queue for
- * the task.  It is inserted at the end of the list.  One quirk of this is
- * that if the task being inserted is at the same priority as the currently
- * executing task, then it will only be rescheduled after the currently
- * executing task has been rescheduled.
- */
-#define prvAddTaskToReadyQueue( pxTCB )																			\
-{																												\
-	if( pxTCB->uxPriority > uxTopReadyPriority )																\
-	{																											\
-		uxTopReadyPriority = pxTCB->uxPriority;																	\
-	}																											\
-	vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) );	\
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Macro that looks at the list of tasks that are currently delayed to see if
- * any require waking.
- *
- * Tasks are stored in the queue in the order of their wake time - meaning
- * once one tasks has been found whose timer has not expired we need not look
- * any further down the list.
- */
-#define prvCheckDelayedTasks()																						\
-{																													\
-register tskTCB *pxTCB;																								\
-																													\
-	while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL )						\
-	{																												\
-		if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) )									\
-		{																											\
-			break;																									\
-		}																											\
-		vListRemove( &( pxTCB->xGenericListItem ) );																\
-		/* Is the task waiting on an event also? */																	\
-		if( pxTCB->xEventListItem.pvContainer )																		\
-		{																											\
-			vListRemove( &( pxTCB->xEventListItem ) );																\
-		}																											\
-		prvAddTaskToReadyQueue( pxTCB );																			\
-	}																												\
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Several functions take an xTaskHandle parameter that can optionally be NULL,
- * where NULL is used to indicate that the handle of the currently executing
- * task should be used in place of the parameter.  This macro simply checks to
- * see if the parameter is NULL and returns a pointer to the appropriate TCB.
- */
-#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
-
-
-/* File private functions. --------------------------------*/
-
-/*
- * Utility to ready a TCB for a given task.  Mainly just copies the parameters
- * into the TCB structure.
- */
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
-
-/*
- * Utility to ready all the lists used by the scheduler.  This is called
- * automatically upon the creation of the first task.
- */
-static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The idle task, which as all tasks is implemented as a never ending loop.
- * The idle task is automatically created and added to the ready lists upon
- * creation of the first user task.
- *
- * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
- * language extensions.  The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
-
-/*
- * Utility to free all memory allocated by the scheduler to hold a TCB,
- * including the stack pointed to by the TCB.
- *
- * This does not free memory allocated by the task itself (i.e. memory
- * allocated by calls to pvPortMalloc from within the tasks application code).
- */
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
-
-	static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Used only by the idle task.  This checks to see if anything has been placed
- * in the list of tasks waiting to be deleted.  If so the task is cleaned up
- * and its TCB deleted.
- */
-static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Allocates memory from the heap for a TCB and associated stack.  Checks the
- * allocation was successful.
- */
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
-
-/*
- * Called from vTaskList.  vListTasks details all the tasks currently under
- * control of the scheduler.  The tasks may be in one of a number of lists.
- * prvListTaskWithinSingleList accepts a list and details the tasks from
- * within just that list.
- *
- * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
- * NORMAL APPLICATION CODE.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * When a task is created, the stack of the task is filled with a known value.
- * This function determines the 'high water mark' of the task stack by
- * determining how much of the stack remains at the original preset value.
- */
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
-
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
-
-#endif
-
-
-/*lint +e956 */
-
-
-
-/*-----------------------------------------------------------
- * TASK CREATION API documented in task.h
- *----------------------------------------------------------*/
-
-signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
-{
-signed portBASE_TYPE xReturn;
-tskTCB * pxNewTCB;
-
-	/* Allocate the memory required by the TCB and stack for the new task,
-	checking that the allocation was successful. */
-	pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
-
-	if( pxNewTCB != NULL )
-	{
-		portSTACK_TYPE *pxTopOfStack;
-
-		#if( portUSING_MPU_WRAPPERS == 1 )
-			/* Should the task be created in privileged mode? */
-			portBASE_TYPE xRunPrivileged;
-			if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
-			{
-				xRunPrivileged = pdTRUE;
-			}
-			else
-			{
-				xRunPrivileged = pdFALSE;
-			}
-			uxPriority &= ~portPRIVILEGE_BIT;
-		#endif /* portUSING_MPU_WRAPPERS == 1 */
-
-		/* Calculate the top of stack address.  This depends on whether the
-		stack grows from high memory to low (as per the 80x86) or visa versa.
-		portSTACK_GROWTH is used to make the result positive or negative as
-		required by the port. */
-		#if( portSTACK_GROWTH < 0 )
-		{
-			pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
-			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK  ) );
-		}
-		#else
-		{
-			pxTopOfStack = pxNewTCB->pxStack;
-
-			/* If we want to use stack checking on architectures that use
-			a positive stack growth direction then we also need to store the
-			other extreme of the stack space. */
-			pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
-		}
-		#endif
-
-		/* Setup the newly allocated TCB with the initial state of the task. */
-		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
-
-		/* Initialize the TCB stack to look as if the task was already running,
-		but had been interrupted by the scheduler.  The return address is set
-		to the start of the task function. Once the stack has been initialised
-		the	top of stack variable is updated. */
-		#if( portUSING_MPU_WRAPPERS == 1 )
-		{
-			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
-		}
-		#else
-		{
-			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
-		}
-		#endif
-
-		/* We are going to manipulate the task queues to add this task to a
-		ready list, so must make sure no interrupts occur. */
-		portENTER_CRITICAL();
-		{
-			uxCurrentNumberOfTasks++;
-			if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
-			{
-				/* As this is the first task it must also be the current task. */
-				pxCurrentTCB =  pxNewTCB;
-
-				/* This is the first task to be created so do the preliminary
-				initialisation required.  We will not recover if this call
-				fails, but we will report the failure. */
-				prvInitialiseTaskLists();
-			}
-			else
-			{
-				/* If the scheduler is not already running, make this task the
-				current task if it is the highest priority task to be created
-				so far. */
-				if( xSchedulerRunning == pdFALSE )
-				{
-					if( pxCurrentTCB->uxPriority <= uxPriority )
-					{
-						pxCurrentTCB = pxNewTCB;
-					}
-				}
-			}
-
-			/* Remember the top priority to make context switching faster.  Use
-			the priority in pxNewTCB as this has been capped to a valid value. */
-			if( pxNewTCB->uxPriority > uxTopUsedPriority )
-			{
-				uxTopUsedPriority = pxNewTCB->uxPriority;
-			}
-
-			#if ( configUSE_TRACE_FACILITY == 1 )
-			{
-				/* Add a counter into the TCB for tracing only. */
-				pxNewTCB->uxTCBNumber = uxTaskNumber;
-			}
-			#endif
-			uxTaskNumber++;
-
-			prvAddTaskToReadyQueue( pxNewTCB );
-
-			xReturn = pdPASS;
-			traceTASK_CREATE( pxNewTCB );
-		}
-		portEXIT_CRITICAL();
-	}
-	else
-	{
-		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-		traceTASK_CREATE_FAILED( pxNewTCB );
-	}
-
-	if( xReturn == pdPASS )
-	{
-		if( ( void * ) pxCreatedTask != NULL )
-		{
-			/* Pass the TCB out - in an anonymous way.  The calling function/
-			task can use this as a handle to delete the task later if
-			required.*/
-			*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
-		}
-
-		if( xSchedulerRunning != pdFALSE )
-		{
-			/* If the created task is of a higher priority than the current task
-			then it should run now. */
-			if( pxCurrentTCB->uxPriority < uxPriority )
-			{
-				portYIELD_WITHIN_API();
-			}
-		}
-	}
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
-	void vTaskDelete( xTaskHandle pxTaskToDelete )
-	{
-	tskTCB *pxTCB;
-
-		portENTER_CRITICAL();
-		{
-			/* Ensure a yield is performed if the current task is being
-			deleted. */
-			if( pxTaskToDelete == pxCurrentTCB )
-			{
-				pxTaskToDelete = NULL;
-			}
-
-			/* If null is passed in here then we are deleting ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
-
-			/* Remove task from the ready list and place in the	termination list.
-			This will stop the task from be scheduled.  The idle task will check
-			the termination list and free up any memory allocated by the
-			scheduler for the TCB and stack. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
-
-			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer )
-			{
-				vListRemove( &( pxTCB->xEventListItem ) );
-			}
-
-			vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
-
-			/* Increment the ucTasksDeleted variable so the idle task knows
-			there is a task that has been deleted and that it should therefore
-			check the xTasksWaitingTermination list. */
-			++uxTasksDeleted;
-
-			/* Increment the uxTaskNumberVariable also so kernel aware debuggers
-			can detect that the task lists need re-generating. */
-			uxTaskNumber++;
-
-			traceTASK_DELETE( pxTCB );
-		}
-		portEXIT_CRITICAL();
-
-		/* Force a reschedule if we have just deleted the current task. */
-		if( xSchedulerRunning != pdFALSE )
-		{
-			if( ( void * ) pxTaskToDelete == NULL )
-			{
-				portYIELD_WITHIN_API();
-			}
-		}
-	}
-
-#endif
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API documented in task.h
- *----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelayUntil == 1 )
-
-	void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
-	{
-	portTickType xTimeToWake;
-	portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
-
-		vTaskSuspendAll();
-		{
-			/* Generate the tick time at which the task wants to wake. */
-			xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
-
-			if( xTickCount < *pxPreviousWakeTime )
-			{
-				/* The tick count has overflowed since this function was
-				lasted called.  In this case the only time we should ever
-				actually delay is if the wake time has also	overflowed,
-				and the wake time is greater than the tick time.  When this
-				is the case it is as if neither time had overflowed. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
-				{
-					xShouldDelay = pdTRUE;
-				}
-			}
-			else
-			{
-				/* The tick time has not overflowed.  In this case we will
-				delay if either the wake time has overflowed, and/or the
-				tick time is less than the wake time. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
-				{
-					xShouldDelay = pdTRUE;
-				}
-			}
-
-			/* Update the wake time ready for the next call. */
-			*pxPreviousWakeTime = xTimeToWake;
-
-			if( xShouldDelay )
-			{
-				traceTASK_DELAY_UNTIL();
-
-				/* We must remove ourselves from the ready list before adding
-				ourselves to the blocked list as the same list item is used for
-				both lists. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-				/* The list item will be inserted in wake time order. */
-				listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-				if( xTimeToWake < xTickCount )
-				{
-					/* Wake time has overflowed.  Place this item in the
-					overflow list. */
-					vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-				else
-				{
-					/* The wake time has not overflowed, so we can use the
-					current block list. */
-					vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-			}
-		}
-		xAlreadyYielded = xTaskResumeAll();
-
-		/* Force a reschedule if xTaskResumeAll has not already done so, we may
-		have put ourselves to sleep. */
-		if( !xAlreadyYielded )
-		{
-			portYIELD_WITHIN_API();
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelay == 1 )
-
-	void vTaskDelay( portTickType xTicksToDelay )
-	{
-	portTickType xTimeToWake;
-	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
-
-		/* A delay time of zero just forces a reschedule. */
-		if( xTicksToDelay > ( portTickType ) 0 )
-		{
-			vTaskSuspendAll();
-			{
-				traceTASK_DELAY();
-
-				/* A task that is removed from the event list while the
-				scheduler is suspended will not get placed in the ready
-				list or removed from the blocked list until the scheduler
-				is resumed.
-
-				This task cannot be in an event list as it is the currently
-				executing task. */
-
-				/* Calculate the time to wake - this may overflow but this is
-				not a problem. */
-				xTimeToWake = xTickCount + xTicksToDelay;
-
-				/* We must remove ourselves from the ready list before adding
-				ourselves to the blocked list as the same list item is used for
-				both lists. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-				/* The list item will be inserted in wake time order. */
-				listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-				if( xTimeToWake < xTickCount )
-				{
-					/* Wake time has overflowed.  Place this item in the
-					overflow list. */
-					vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-				else
-				{
-					/* The wake time has not overflowed, so we can use the
-					current block list. */
-					vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-			}
-			xAlreadyYielded = xTaskResumeAll();
-		}
-
-		/* Force a reschedule if xTaskResumeAll has not already done so, we may
-		have put ourselves to sleep. */
-		if( !xAlreadyYielded )
-		{
-			portYIELD_WITHIN_API();
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskPriorityGet == 1 )
-
-	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
-	{
-	tskTCB *pxTCB;
-	unsigned portBASE_TYPE uxReturn;
-
-		portENTER_CRITICAL();
-		{
-			/* If null is passed in here then we are changing the
-			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
-			uxReturn = pxTCB->uxPriority;
-		}
-		portEXIT_CRITICAL();
-
-		return uxReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskPrioritySet == 1 )
-
-	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
-	{
-	tskTCB *pxTCB;
-	unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
-
-		/* Ensure the new priority is valid. */
-		if( uxNewPriority >= configMAX_PRIORITIES )
-		{
-			uxNewPriority = configMAX_PRIORITIES - 1;
-		}
-
-		portENTER_CRITICAL();
-		{
-			if( pxTask == pxCurrentTCB )
-			{
-				pxTask = NULL;
-			}
-
-			/* If null is passed in here then we are changing the
-			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
-
-			traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
-
-			#if ( configUSE_MUTEXES == 1 )
-			{
-				uxCurrentPriority = pxTCB->uxBasePriority;
-			}
-			#else
-			{
-				uxCurrentPriority = pxTCB->uxPriority;
-			}
-			#endif
-
-			if( uxCurrentPriority != uxNewPriority )
-			{
-				/* The priority change may have readied a task of higher
-				priority than the calling task. */
-				if( uxNewPriority > uxCurrentPriority )
-				{
-					if( pxTask != NULL )
-					{
-						/* The priority of another task is being raised.  If we
-						were raising the priority of the currently running task
-						there would be no need to switch as it must have already
-						been the highest priority task. */
-						xYieldRequired = pdTRUE;
-					}
-				}
-				else if( pxTask == NULL )
-				{
-					/* Setting our own priority down means there may now be another
-					task of higher priority that is ready to execute. */
-					xYieldRequired = pdTRUE;
-				}
-
-
-
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					/* Only change the priority being used if the task is not
-					currently using an inherited priority. */
-					if( pxTCB->uxBasePriority == pxTCB->uxPriority )
-					{
-						pxTCB->uxPriority = uxNewPriority;
-					}
-
-					/* The base priority gets set whatever. */
-					pxTCB->uxBasePriority = uxNewPriority;
-				}
-				#else
-				{
-					pxTCB->uxPriority = uxNewPriority;
-				}
-				#endif
-
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
-
-				/* If the task is in the blocked or suspended list we need do
-				nothing more than change it's priority variable. However, if
-				the task is in a ready list it needs to be removed and placed
-				in the queue appropriate to its new priority. */
-				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
-				{
-					/* The task is currently in its ready list - remove before adding
-					it to it's new ready list.  As we are in a critical section we
-					can do this even if the scheduler is suspended. */
-					vListRemove( &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
-				}
-
-				if( xYieldRequired == pdTRUE )
-				{
-					portYIELD_WITHIN_API();
-				}
-			}
-		}
-		portEXIT_CRITICAL();
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
-	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
-	{
-	tskTCB *pxTCB;
-
-		portENTER_CRITICAL();
-		{
-			/* Ensure a yield is performed if the current task is being
-			suspended. */
-			if( pxTaskToSuspend == pxCurrentTCB )
-			{
-				pxTaskToSuspend = NULL;
-			}
-
-			/* If null is passed in here then we are suspending ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
-
-			traceTASK_SUSPEND( pxTCB );
-
-			/* Remove task from the ready/delayed list and place in the	suspended list. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
-
-			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer )
-			{
-				vListRemove( &( pxTCB->xEventListItem ) );
-			}
-
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
-		}
-		portEXIT_CRITICAL();
-
-		/* We may have just suspended the current task. */
-		if( ( void * ) pxTaskToSuspend == NULL )
-		{
-			portYIELD_WITHIN_API();
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
-	signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
-	{
-	portBASE_TYPE xReturn = pdFALSE;
-	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
-
-		/* Is the task we are attempting to resume actually in the
-		suspended list? */
-		if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
-		{
-			/* Has the task already been resumed from within an ISR? */
-			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
-			{
-				/* Is it in the suspended list because it is in the
-				Suspended state?  It is possible to be in the suspended
-				list because it is blocked on a task with no timeout
-				specified. */
-				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
-				{
-					xReturn = pdTRUE;
-				}
-			}
-		}
-
-		return xReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
-	void vTaskResume( xTaskHandle pxTaskToResume )
-	{
-	tskTCB *pxTCB;
-
-		/* Remove the task from whichever list it is currently in, and place
-		it in the ready list. */
-		pxTCB = ( tskTCB * ) pxTaskToResume;
-
-		/* The parameter cannot be NULL as it is impossible to resume the
-		currently executing task. */
-		if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
-		{
-			portENTER_CRITICAL();
-			{
-				if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
-				{
-					traceTASK_RESUME( pxTCB );
-
-					/* As we are in a critical section we can access the ready
-					lists even if the scheduler is suspended. */
-					vListRemove(  &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
-
-					/* We may have just resumed a higher priority task. */
-					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-					{
-						/* This yield may not cause the task just resumed to run, but
-						will leave the lists in the correct state for the next yield. */
-						portYIELD_WITHIN_API();
-					}
-				}
-			}
-			portEXIT_CRITICAL();
-		}
-	}
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
-	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
-	{
-	portBASE_TYPE xYieldRequired = pdFALSE;
-	tskTCB *pxTCB;
-
-		pxTCB = ( tskTCB * ) pxTaskToResume;
-
-		if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
-		{
-			traceTASK_RESUME_FROM_ISR( pxTCB );
-
-			if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-			{
-				xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
-				vListRemove(  &( pxTCB->xGenericListItem ) );
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-			else
-			{
-				/* We cannot access the delayed or ready lists, so will hold this
-				task pending until the scheduler is resumed, at which point a
-				yield will be performed if necessary. */
-				vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
-			}
-		}
-
-		return xYieldRequired;
-	}
-
-#endif
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC SCHEDULER CONTROL documented in task.h
- *----------------------------------------------------------*/
-
-
-void vTaskStartScheduler( void )
-{
-portBASE_TYPE xReturn;
-
-	/* Add the idle task at the lowest priority. */
-	xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
-
-	if( xReturn == pdPASS )
-	{
-		/* Interrupts are turned off here, to ensure a tick does not occur
-		before or during the call to xPortStartScheduler().  The stacks of
-		the created tasks contain a status word with interrupts switched on
-		so interrupts will automatically get re-enabled when the first task
-		starts to run.
-
-		STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
-		DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
-		portDISABLE_INTERRUPTS();
-
-		xSchedulerRunning = pdTRUE;
-		xTickCount = ( portTickType ) 0;
-
-		/* If configGENERATE_RUN_TIME_STATS is defined then the following
-		macro must be defined to configure the timer/counter used to generate
-		the run time counter time base. */
-		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
-
-		/* Setting up the timer tick is hardware specific and thus in the
-		portable interface. */
-		if( xPortStartScheduler() )
-		{
-			/* Should not reach here as if the scheduler is running the
-			function will not return. */
-		}
-		else
-		{
-			/* Should only reach here if a task calls xTaskEndScheduler(). */
-		}
-	}
-}
-/*-----------------------------------------------------------*/
-
-void vTaskEndScheduler( void )
-{
-	/* Stop the scheduler interrupts and call the portable scheduler end
-	routine so the original ISRs can be restored if necessary.  The port
-	layer must ensure interrupts enable	bit is left in the correct state. */
-	portDISABLE_INTERRUPTS();
-	xSchedulerRunning = pdFALSE;
-	vPortEndScheduler();
-}
-/*----------------------------------------------------------*/
-
-void vTaskSuspendAll( void )
-{
-	/* A critical section is not required as the variable is of type
-	portBASE_TYPE. */
-	++uxSchedulerSuspended;
-}
-/*----------------------------------------------------------*/
-
-signed portBASE_TYPE xTaskResumeAll( void )
-{
-register tskTCB *pxTCB;
-signed portBASE_TYPE xAlreadyYielded = pdFALSE;
-
-	/* It is possible that an ISR caused a task to be removed from an event
-	list while the scheduler was suspended.  If this was the case then the
-	removed task will have been added to the xPendingReadyList.  Once the
-	scheduler has been resumed it is safe to move all the pending ready
-	tasks from this list into their appropriate ready list. */
-	portENTER_CRITICAL();
-	{
-		--uxSchedulerSuspended;
-
-		if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-		{
-			if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
-			{
-				portBASE_TYPE xYieldRequired = pdFALSE;
-
-				/* Move any readied tasks from the pending list into the
-				appropriate ready list. */
-				while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
-				{
-					vListRemove( &( pxTCB->xEventListItem ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
-
-					/* If we have moved a task that has a priority higher than
-					the current task then we should yield. */
-					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-					{
-						xYieldRequired = pdTRUE;
-					}
-				}
-
-				/* If any ticks occurred while the scheduler was suspended then
-				they should be processed now.  This ensures the tick count does not
-				slip, and that any delayed tasks are resumed at the correct time. */
-				if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
-				{
-					while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
-					{
-						vTaskIncrementTick();
-						--uxMissedTicks;
-					}
-
-					/* As we have processed some ticks it is appropriate to yield
-					to ensure the highest priority task that is ready to run is
-					the task actually running. */
-					#if configUSE_PREEMPTION == 1
-					{
-						xYieldRequired = pdTRUE;
-					}
-					#endif
-				}
-
-				if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
-				{
-					xAlreadyYielded = pdTRUE;
-					xMissedYield = pdFALSE;
-					portYIELD_WITHIN_API();
-				}
-			}
-		}
-	}
-	portEXIT_CRITICAL();
-
-	return xAlreadyYielded;
-}
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC TASK UTILITIES documented in task.h
- *----------------------------------------------------------*/
-
-
-
-portTickType xTaskGetTickCount( void )
-{
-portTickType xTicks;
-
-	/* Critical section required if running on a 16 bit processor. */
-	portENTER_CRITICAL();
-	{
-		xTicks = xTickCount;
-	}
-	portEXIT_CRITICAL();
-
-	return xTicks;
-}
-/*-----------------------------------------------------------*/
-
-unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
-{
-	/* A critical section is not required because the variables are of type
-	portBASE_TYPE. */
-	return uxCurrentNumberOfTasks;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	void vTaskList( signed char *pcWriteBuffer )
-	{
-	unsigned portBASE_TYPE uxQueue;
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
-
-		vTaskSuspendAll();
-		{
-			/* Run through all the lists that could potentially contain a TCB and
-			report the task name, state and stack high water mark. */
-
-			pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
-			uxQueue = uxTopUsedPriority + 1;
-
-			do
-			{
-				uxQueue--;
-
-				if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
-				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-			if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
-			}
-
-			if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
-			}
-
-			#if( INCLUDE_vTaskDelete == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
-				}
-			}
-			#endif
-
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
-				}
-			}
-			#endif
-		}
-		xTaskResumeAll();
-	}
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
-	{
-	unsigned portBASE_TYPE uxQueue;
-	unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
-
-		vTaskSuspendAll();
-		{
-			/* Run through all the lists that could potentially contain a TCB,
-			generating a table of run timer percentages in the provided
-			buffer. */
-
-			pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
-			uxQueue = uxTopUsedPriority + 1;
-
-			do
-			{
-				uxQueue--;
-
-				if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
-				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-			if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
-			}
-
-			if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
-			}
-
-			#if ( INCLUDE_vTaskDelete == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
-				}
-			}
-			#endif
-
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
-				}
-			}
-			#endif
-		}
-		xTaskResumeAll();
-	}
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
-	{
-		portENTER_CRITICAL();
-		{
-			pcTraceBuffer = ( signed char * )pcBuffer;
-			pcTraceBufferStart = pcBuffer;
-			pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
-			xTracing = pdTRUE;
-		}
-		portEXIT_CRITICAL();
-	}
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	unsigned long ulTaskEndTrace( void )
-	{
-	unsigned long ulBufferLength;
-
-		portENTER_CRITICAL();
-			xTracing = pdFALSE;
-		portEXIT_CRITICAL();
-
-		ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
-
-		return ulBufferLength;
-	}
-
-#endif
-
-
-
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- * documented in task.h
- *----------------------------------------------------------*/
-
-
-void vTaskIncrementTick( void )
-{
-	/* Called by the portable layer each time a tick interrupt occurs.
-	Increments the tick then checks to see if the new tick value will cause any
-	tasks to be unblocked. */
-	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-	{
-		++xTickCount;
-		if( xTickCount == ( portTickType ) 0 )
-		{
-			xList *pxTemp;
-
-			/* Tick count has overflowed so we need to swap the delay lists.
-			If there are any items in pxDelayedTaskList here then there is
-			an error! */
-			pxTemp = pxDelayedTaskList;
-			pxDelayedTaskList = pxOverflowDelayedTaskList;
-			pxOverflowDelayedTaskList = pxTemp;
-			xNumOfOverflows++;
-		}
-
-		/* See if this tick has made a timeout expire. */
-		prvCheckDelayedTasks();
-	}
-	else
-	{
-		++uxMissedTicks;
-
-		/* The tick hook gets called at regular intervals, even if the
-		scheduler is locked. */
-		#if ( configUSE_TICK_HOOK == 1 )
-		{
-			extern void vApplicationTickHook( void );
-
-			vApplicationTickHook();
-		}
-		#endif
-	}
-
-	#if ( configUSE_TICK_HOOK == 1 )
-	{
-		extern void vApplicationTickHook( void );
-
-		/* Guard against the tick hook being called when the missed tick
-		count is being unwound (when the scheduler is being unlocked. */
-		if( uxMissedTicks == 0 )
-		{
-			vApplicationTickHook();
-		}
-	}
-	#endif
-
-	traceTASK_INCREMENT_TICK( xTickCount );
-}
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
-	void vTaskCleanUpResources( void )
-	{
-	unsigned short usQueue;
-	volatile tskTCB *pxTCB;
-
-		usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
-
-		/* Remove any TCB's from the ready queues. */
-		do
-		{
-			usQueue--;
-
-			while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
-			{
-				listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
-				vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-				prvDeleteTCB( ( tskTCB * ) pxTCB );
-			}
-		}while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-		/* Remove any TCB's from the delayed queue. */
-		while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-
-		/* Remove any TCB's from the overflow delayed queue. */
-		while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-
-		while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
-	void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
-	{
-	tskTCB *xTCB;
-
-		/* If xTask is NULL then we are setting our own task hook. */
-		if( xTask == NULL )
-		{
-			xTCB = ( tskTCB * ) pxCurrentTCB;
-		}
-		else
-		{
-			xTCB = ( tskTCB * ) xTask;
-		}
-
-		/* Save the hook function in the TCB.  A critical section is required as
-		the value can be accessed from an interrupt. */
-		portENTER_CRITICAL();
-			xTCB->pxTaskTag = pxTagValue;
-		portEXIT_CRITICAL();
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
-	pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
-	{
-	tskTCB *xTCB;
-	pdTASK_HOOK_CODE xReturn;
-
-		/* If xTask is NULL then we are setting our own task hook. */
-		if( xTask == NULL )
-		{
-			xTCB = ( tskTCB * ) pxCurrentTCB;
-		}
-		else
-		{
-			xTCB = ( tskTCB * ) xTask;
-		}
-
-		/* Save the hook function in the TCB.  A critical section is required as
-		the value can be accessed from an interrupt. */
-		portENTER_CRITICAL();
-			xReturn = xTCB->pxTaskTag;
-		portEXIT_CRITICAL();
-
-		return xReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
-	portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
-	{
-	tskTCB *xTCB;
-	portBASE_TYPE xReturn;
-
-		/* If xTask is NULL then we are calling our own task hook. */
-		if( xTask == NULL )
-		{
-			xTCB = ( tskTCB * ) pxCurrentTCB;
-		}
-		else
-		{
-			xTCB = ( tskTCB * ) xTask;
-		}
-
-		if( xTCB->pxTaskTag != NULL )
-		{
-			xReturn = xTCB->pxTaskTag( pvParameter );
-		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
-
-		return xReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-void vTaskSwitchContext( void )
-{
-	if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
-	{
-		/* The scheduler is currently suspended - do not allow a context
-		switch. */
-		xMissedYield = pdTRUE;
-		return;
-	}
-
-	traceTASK_SWITCHED_OUT();
-
-	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-	{
-		unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
-
-			/* Add the amount of time the task has been running to the accumulated
-			time so far.  The time the task started running was stored in
-			ulTaskSwitchedInTime.  Note that there is no overflow protection here
-			so count values are only valid until the timer overflows.  Generally
-			this will be about 1 hour assuming a 1uS timer increment. */
-			pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
-			ulTaskSwitchedInTime = ulTempCounter;
-	}
-	#endif
-
-	taskFIRST_CHECK_FOR_STACK_OVERFLOW();
-	taskSECOND_CHECK_FOR_STACK_OVERFLOW();
-
-	/* Find the highest priority queue that contains ready tasks. */
-	while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
-	{
-		--uxTopReadyPriority;
-	}
-
-	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
-	same priority get an equal share of the processor time. */
-	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
-
-	traceTASK_SWITCHED_IN();
-	vWriteTraceToBuffer();
-}
-/*-----------------------------------------------------------*/
-
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
-{
-portTickType xTimeToWake;
-
-	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
-	SCHEDULER SUSPENDED. */
-
-	/* Place the event list item of the TCB in the appropriate event list.
-	This is placed in the list in priority order so the highest priority task
-	is the first to be woken by the event. */
-	vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
-
-	/* We must remove ourselves from the ready list before adding ourselves
-	to the blocked list as the same list item is used for both lists.  We have
-	exclusive access to the ready lists as the scheduler is locked. */
-	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-
-	#if ( INCLUDE_vTaskSuspend == 1 )
-	{
-		if( xTicksToWait == portMAX_DELAY )
-		{
-			/* Add ourselves to the suspended task list instead of a delayed task
-			list to ensure we are not woken by a timing event.  We will block
-			indefinitely. */
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-		}
-		else
-		{
-			/* Calculate the time at which the task should be woken if the event does
-			not occur.  This may overflow but this doesn't matter. */
-			xTimeToWake = xTickCount + xTicksToWait;
-
-			listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-			if( xTimeToWake < xTickCount )
-			{
-				/* Wake time has overflowed.  Place this item in the overflow list. */
-				vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-			else
-			{
-				/* The wake time has not overflowed, so we can use the current block list. */
-				vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-		}
-	}
-	#else
-	{
-			/* Calculate the time at which the task should be woken if the event does
-			not occur.  This may overflow but this doesn't matter. */
-			xTimeToWake = xTickCount + xTicksToWait;
-
-			listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-			if( xTimeToWake < xTickCount )
-			{
-				/* Wake time has overflowed.  Place this item in the overflow list. */
-				vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-			else
-			{
-				/* The wake time has not overflowed, so we can use the current block list. */
-				vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-	}
-	#endif
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
-{
-tskTCB *pxUnblockedTCB;
-portBASE_TYPE xReturn;
-
-	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
-	SCHEDULER SUSPENDED.  It can also be called from within an ISR. */
-
-	/* The event list is sorted in priority order, so we can remove the
-	first in the list, remove the TCB from the delayed list, and add
-	it to the ready list.
-
-	If an event is for a queue that is locked then this function will never
-	get called - the lock count on the queue will get modified instead.  This
-	means we can always expect exclusive access to the event list here. */
-	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
-	vListRemove( &( pxUnblockedTCB->xEventListItem ) );
-
-	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-	{
-		vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
-		prvAddTaskToReadyQueue( pxUnblockedTCB );
-	}
-	else
-	{
-		/* We cannot access the delayed or ready lists, so will hold this
-		task pending until the scheduler is resumed. */
-		vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
-	}
-
-	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
-	{
-		/* Return true if the task removed from the event list has
-		a higher priority than the calling task.  This allows
-		the calling task to know if it should force a context
-		switch now. */
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
-{
-	pxTimeOut->xOverflowCount = xNumOfOverflows;
-	pxTimeOut->xTimeOnEntering = xTickCount;
-}
-/*-----------------------------------------------------------*/
-
-portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
-{
-portBASE_TYPE xReturn;
-
-	portENTER_CRITICAL();
-	{
-		#if ( INCLUDE_vTaskSuspend == 1 )
-			/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
-			the maximum block time then the task should block indefinitely, and
-			therefore never time out. */
-			if( *pxTicksToWait == portMAX_DELAY )
-			{
-				xReturn = pdFALSE;
-			}
-			else /* We are not blocking indefinitely, perform the checks below. */
-		#endif
-
-		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
-		{
-			/* The tick count is greater than the time at which vTaskSetTimeout()
-			was called, but has also overflowed since vTaskSetTimeOut() was called.
-			It must have wrapped all the way around and gone past us again. This
-			passed since vTaskSetTimeout() was called. */
-			xReturn = pdTRUE;
-		}
-		else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
-		{
-			/* Not a genuine timeout. Adjust parameters for time remaining. */
-			*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
-			vTaskSetTimeOutState( pxTimeOut );
-			xReturn = pdFALSE;
-		}
-		else
-		{
-			xReturn = pdTRUE;
-		}
-	}
-	portEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskMissedYield( void )
-{
-	xMissedYield = pdTRUE;
-}
-
-/*
- * -----------------------------------------------------------
- * The Idle task.
- * ----------------------------------------------------------
- *
- * The portTASK_FUNCTION() macro is used to allow port/compiler specific
- * language extensions.  The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION( prvIdleTask, pvParameters )
-{
-	/* Stop warnings. */
-	( void ) pvParameters;
-
-	for( ;; )
-	{
-		/* See if any tasks have been deleted. */
-		prvCheckTasksWaitingTermination();
-
-		#if ( configUSE_PREEMPTION == 0 )
-		{
-			/* If we are not using preemption we keep forcing a task switch to
-			see if any other task has become available.  If we are using
-			preemption we don't need to do this as any task becoming available
-			will automatically get the processor anyway. */
-			taskYIELD();
-		}
-		#endif
-
-		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
-		{
-			/* When using preemption tasks of equal priority will be
-			timesliced.  If a task that is sharing the idle priority is ready
-			to run then the idle task should yield before the end of the
-			timeslice.
-
-			A critical region is not required here as we are just reading from
-			the list, and an occasional incorrect value will not matter.  If
-			the ready list at the idle priority contains more than one task
-			then a task other than the idle task is ready to execute. */
-			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
-			{
-				taskYIELD();
-			}
-		}
-		#endif
-
-		#if ( configUSE_IDLE_HOOK == 1 )
-		{
-			extern void vApplicationIdleHook( void );
-
-			/* Call the user defined function from within the idle task.  This
-			allows the application designer to add background functionality
-			without the overhead of a separate task.
-			NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
-			CALL A FUNCTION THAT MIGHT BLOCK. */
-			vApplicationIdleHook();
-		}
-		#endif
-		// call nanosleep for smalles sleep time possible
-		// (depending on kernel settings - around 100 microseconds)
-		// decreases idle thread CPU load from 100 to practically 0
-		struct timespec x;
-		x.tv_sec=1;
-		x.tv_nsec=0;
-		nanosleep(&x,NULL);
-	}
-} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
-
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * File private functions documented at the top of the file.
- *----------------------------------------------------------*/
-
-
-
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
-{
-	/* Store the function name in the TCB. */
-	#if configMAX_TASK_NAME_LEN > 1
-	{
-		/* Don't bring strncpy into the build unnecessarily. */
-		strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
-	}
-	#endif
-	pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
-
-	/* This is used as an array index so must ensure it's not too large.  First
-	remove the privilege bit if one is present. */
-	if( uxPriority >= configMAX_PRIORITIES )
-	{
-		uxPriority = configMAX_PRIORITIES - 1;
-	}
-
-	pxTCB->uxPriority = uxPriority;
-	#if ( configUSE_MUTEXES == 1 )
-	{
-		pxTCB->uxBasePriority = uxPriority;
-	}
-	#endif
-
-	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
-	vListInitialiseItem( &( pxTCB->xEventListItem ) );
-
-	/* Set the pxTCB as a link back from the xListItem.  This is so we can get
-	back to	the containing TCB from a generic item in a list. */
-	listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
-
-	/* Event lists are always in priority order. */
-	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
-	listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
-
-	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-	{
-		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
-	}
-	#endif
-
-	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-	{
-		pxTCB->pxTaskTag = NULL;
-	}
-	#endif
-
-	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-	{
-		pxTCB->ulRunTimeCounter = 0UL;
-	}
-	#endif
-
-	#if ( portUSING_MPU_WRAPPERS == 1 )
-	{
-		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
-	}
-	#else
-	{
-		( void ) xRegions;
-		( void ) usStackDepth;
-	}
-	#endif
-}
-/*-----------------------------------------------------------*/
-
-#if ( portUSING_MPU_WRAPPERS == 1 )
-
-	void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
-	{
-	tskTCB *pxTCB;
-	
-		if( xTaskToModify == pxCurrentTCB )
-		{
-			xTaskToModify = NULL;
-		}
-
-		/* If null is passed in here then we are deleting ourselves. */
-		pxTCB = prvGetTCBFromHandle( xTaskToModify );
-
-        vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
-	}
-	/*-----------------------------------------------------------*/
-#endif
-
-static void prvInitialiseTaskLists( void )
-{
-unsigned portBASE_TYPE uxPriority;
-
-	for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
-	{
-		vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
-	}
-
-	vListInitialise( ( xList * ) &xDelayedTaskList1 );
-	vListInitialise( ( xList * ) &xDelayedTaskList2 );
-	vListInitialise( ( xList * ) &xPendingReadyList );
-
-	#if ( INCLUDE_vTaskDelete == 1 )
-	{
-		vListInitialise( ( xList * ) &xTasksWaitingTermination );
-	}
-	#endif
-
-	#if ( INCLUDE_vTaskSuspend == 1 )
-	{
-		vListInitialise( ( xList * ) &xSuspendedTaskList );
-	}
-	#endif
-
-	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
-	using list2. */
-	pxDelayedTaskList = &xDelayedTaskList1;
-	pxOverflowDelayedTaskList = &xDelayedTaskList2;
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckTasksWaitingTermination( void )
-{
-	#if ( INCLUDE_vTaskDelete == 1 )
-	{
-		portBASE_TYPE xListIsEmpty;
-
-		/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
-		too often in the idle task. */
-		if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
-		{
-			vTaskSuspendAll();
-				xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
-			xTaskResumeAll();
-
-			if( !xListIsEmpty )
-			{
-				tskTCB *pxTCB;
-
-				portENTER_CRITICAL();
-				{
-					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
-					--uxCurrentNumberOfTasks;
-					--uxTasksDeleted;
-				}
-				portEXIT_CRITICAL();
-
-				prvDeleteTCB( pxTCB );
-			}
-		}
-	}
-	#endif
-}
-/*-----------------------------------------------------------*/
-
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
-{
-tskTCB *pxNewTCB;
-
-	/* Allocate space for the TCB.  Where the memory comes from depends on
-	the implementation of the port malloc function. */
-	pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
-
-	if( pxNewTCB != NULL )
-	{
-		/* Allocate space for the stack used by the task being created.
-		The base of the stack memory stored in the TCB so the task can
-		be deleted later if required. */
-		pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
-
-		if( pxNewTCB->pxStack == NULL )
-		{
-			/* Could not allocate the stack.  Delete the allocated TCB. */
-			vPortFree( pxNewTCB );
-			pxNewTCB = NULL;
-		}
-		else
-		{
-			/* Just to help debugging. */
-			memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
-		}
-	}
-
-	return pxNewTCB;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
-	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
-	{
-	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned short usStackRemaining;
-
-		/* Write the details of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-			#if ( portSTACK_GROWTH > 0 )
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
-			}
-			#else
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
-			}
-			#endif			
-			
-			sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
-			strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
-
-		} while( pxNextTCB != pxFirstTCB );
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
-	{
-	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned long ulStatsAsPercentage;
-
-		/* Write the run time stats of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
-		{
-			/* Get next TCB in from the list. */
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-
-			/* Divide by zero check. */
-			if( ulTotalRunTime > 0UL )
-			{
-				/* Has the task run at all? */
-				if( pxNextTCB->ulRunTimeCounter == 0 )
-				{
-					/* The task has used no CPU time at all. */
-					sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
-				}
-				else
-				{
-					/* What percentage of the total run time as the task used?
-					This will always be rounded down to the nearest integer. */
-					ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
-
-					if( ulStatsAsPercentage > 0UL )
-					{
-						sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
-					}
-					else
-					{
-						/* If the percentage is zero here then the task has
-						consumed less than 1% of the total run time. */
-						sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
-					}
-				}
-
-				strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
-			}
-
-		} while( pxNextTCB != pxFirstTCB );
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
-
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
-	{
-	register unsigned short usCount = 0;
-
-		while( *pucStackByte == tskSTACK_FILL_BYTE )
-		{
-			pucStackByte -= portSTACK_GROWTH;
-			usCount++;
-		}
-
-		usCount /= sizeof( portSTACK_TYPE );
-
-		return usCount;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
-
-	unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
-	{
-	tskTCB *pxTCB;
-	unsigned char *pcEndOfStack;
-	unsigned portBASE_TYPE uxReturn;
-
-		pxTCB = prvGetTCBFromHandle( xTask );
-
-		#if portSTACK_GROWTH < 0
-		{
-			pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
-		}
-		#else
-		{
-			pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
-		}
-		#endif
-
-		uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
-
-		return uxReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
-
-	static void prvDeleteTCB( tskTCB *pxTCB )
-	{
-		/* Free up the memory allocated by the scheduler for the task.  It is up to
-		the task to free any memory allocated at the application level. */
-		vPortFreeAligned( pxTCB->pxStack );
-		vPortFree( pxTCB );
-	}
-
-#endif
-
-
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
-
-	xTaskHandle xTaskGetCurrentTaskHandle( void )
-	{
-	xTaskHandle xReturn;
-
-		/* A critical section is not required as this is not called from
-		an interrupt and the current TCB will always be the same for any
-		individual execution thread. */
-		xReturn = pxCurrentTCB;
-
-		return xReturn;
-	}
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetSchedulerState == 1 )
-
-	portBASE_TYPE xTaskGetSchedulerState( void )
-	{
-	portBASE_TYPE xReturn;
-
-		if( xSchedulerRunning == pdFALSE )
-		{
-			xReturn = taskSCHEDULER_NOT_STARTED;
-		}
-		else
-		{
-			if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-			{
-				xReturn = taskSCHEDULER_RUNNING;
-			}
-			else
-			{
-				xReturn = taskSCHEDULER_SUSPENDED;
-			}
-		}
-
-		return xReturn;
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
-	void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
-	{
-	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
-
-		if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
-		{
-			/* Adjust the mutex holder state to account for its new priority. */
-			listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
-
-			/* If the task being modified is in the ready state it will need to
-			be moved in to a new list. */
-			if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
-			{
-				vListRemove( &( pxTCB->xGenericListItem ) );
-
-				/* Inherit the priority before being moved into the new list. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-			else
-			{
-				/* Just inherit the priority. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-			}
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
-	void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
-	{
-	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
-
-		if( pxMutexHolder != NULL )
-		{
-			if( pxTCB->uxPriority != pxTCB->uxBasePriority )
-			{
-				/* We must be the running task to be able to give the mutex back.
-				Remove ourselves from the ready list we currently appear in. */
-				vListRemove( &( pxTCB->xGenericListItem ) );
-
-				/* Disinherit the priority before adding ourselves into the new
-				ready list. */
-				pxTCB->uxPriority = pxTCB->uxBasePriority;
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
-	void vTaskEnterCritical( void )
-	{
-		portDISABLE_INTERRUPTS();
-
-		if( xSchedulerRunning != pdFALSE )
-		{
-			pxCurrentTCB->uxCriticalNesting++;
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
-void vTaskExitCritical( void )
-{
-	if( xSchedulerRunning != pdFALSE )
-	{
-		if( pxCurrentTCB->uxCriticalNesting > 0 )
-		{
-			pxCurrentTCB->uxCriticalNesting--;
-
-			if( pxCurrentTCB->uxCriticalNesting == 0 )
-			{
-				portENABLE_INTERRUPTS();
-			}
-		}
-	}
-}
-
-#endif
-/*-----------------------------------------------------------*/
-
-
-
-

From 61be4811f5eb608e7cea266f5465007eb202c8c7 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 19 Apr 2013 00:00:28 +0200
Subject: [PATCH 071/125] OP-900 Various fixes from OPReview-435

+review OPReview-435
---
 .../FreeRTOS/Source/portable/MemMang/heap_1.c | 79 +++++++++----------
 .../Libraries/FreeRTOS/howto_upgrade.txt      |  1 +
 .../Source/portable/GCC/ARM_CM3/portmacro.h   |  2 +
 .../Source/portable/GCC/ARM_CM4F/portmacro.h  |  2 +-
 .../CopterControl/System/inc/FreeRTOSConfig.h |  3 -
 5 files changed, 41 insertions(+), 46 deletions(-)

diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
index 1164e735d..2cdd8bbd4 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -105,54 +105,49 @@ void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
 
 /*-----------------------------------------------------------*/
 
-void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment)
-{
-void *pvReturn = NULL;
-static unsigned char *pucAlignedHeap = NULL;
-size_t mask = alignment-1;
-	/* Ensure that blocks are always aligned to the required number of bytes. */
-	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & mask )
-		{
-		    			/* Byte alignment required. */
-			xWantedSize += ( alignment - ( xWantedSize & mask ) );
-		}
-	#endif
+void *pvPortMallocGeneric(size_t xWantedSize, size_t alignment) {
+    void *pvReturn = NULL;
+    static unsigned char *pucAlignedHeap = NULL;
+    size_t mask = alignment - 1;
+    /* Ensure that blocks are always aligned to the required number of bytes. */
+#if portBYTE_ALIGNMENT != 1
+    if (xWantedSize & mask) {
+        /* Byte alignment required. */
+        xWantedSize += (alignment - (xWantedSize & mask));
+    }
+#endif
 
-	vTaskSuspendAll();
-	{
-		if( pucAlignedHeap == NULL )
-		{
-			/* Ensure the heap starts on a correctly aligned boundary. */
-			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ alignment ] ) & ( ( portPOINTER_SIZE_TYPE ) ~ mask ) );
-		}
+    vTaskSuspendAll();
+    {
+        if (pucAlignedHeap == NULL ) {
+            /* Ensure the heap starts on a correctly aligned boundary. */
+            pucAlignedHeap = (unsigned char *) (((portPOINTER_SIZE_TYPE ) &ucHeap[alignment]) & ((portPOINTER_SIZE_TYPE ) ~mask));
+        }
 
-		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
-			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
-		{
-			/* Return the next free byte then increment the index past this
-			block. */
-			pvReturn = pucAlignedHeap + xNextFreeByte;
-			xNextFreeByte += xWantedSize;
-		}
-	}
-	xTaskResumeAll();
+        /* Check there is enough room left for the allocation. */
+        if (((xNextFreeByte + xWantedSize) < configADJUSTED_HEAP_SIZE)&&
+        ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) ){
+        /* Check for overflow. */
+        /* Return the next free byte then increment the index past this block. */
+        pvReturn = pucAlignedHeap + xNextFreeByte;
+        xNextFreeByte += xWantedSize;
+        }
+    }
+    xTaskResumeAll();
 
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
+#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+    {
+        if( pvReturn == NULL ) {
+            extern void vApplicationMallocFailedHook( void );
+            vApplicationMallocFailedHook();
+        }
+    }
+#endif
 
-	return pvReturn;
+    return pvReturn;
 }
 
-void *pvPortMalloc( size_t xWantedSize){
+void *pvPortMalloc(size_t xWantedSize) {
     return pvPortMallocGeneric(xWantedSize, portBYTE_HEAP_ALIGNMENT);
 }
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
index c4ba4caae..aa64ebc24 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
@@ -8,6 +8,7 @@ Brief list of modifications:
 *Allow heap_1.c for modification of max heap size at runtime;
 *use section ".heap" for heap.
 
+Memory manager now handles two different kind of alignments for F1, portBYTE_ALIGNMENT for standard mallocs, and portBYTE_HEAP_ALIGNMENT for stack(aligned) allocs
 
 
 
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
index aff9f208b..a40ebd000 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -115,6 +115,8 @@ extern "C" {
 #define portBYTE_HEAP_ALIGNMENT     4 // this value is used to allocate heap
 /*-----------------------------------------------------------*/
 
+extern void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
+#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
 
 /* Scheduler utilities. */
 extern void vPortYieldFromISR( void );
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index e99354d6f..2a5e983e1 100644
--- a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -111,7 +111,7 @@ extern "C" {
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
 #define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
-#define portBYTE_ALIGNMENT			8
+#define portBYTE_ALIGNMENT			8 // APCS 8 bytes aligned stack for external calls
 /*-----------------------------------------------------------*/	
 
 
diff --git a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
index 7dcb54fe8..0ed32c74d 100644
--- a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
+++ b/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
@@ -91,9 +91,6 @@ do {\
 #define configCHECK_FOR_STACK_OVERFLOW	1
 #endif
 
-void *pvPortMallocGeneric( size_t xWantedSize, size_t alignment);
-#define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMallocGeneric( ( x ) , portBYTE_ALIGNMENT) ) : ( puxStackBuffer ) )
-
 /**
   * @}
   */

From 72a2d1a50e8123735199404c676f0659d8734baa Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 19 Apr 2013 18:47:56 +0300
Subject: [PATCH 072/125] style: use 2 spaces and full stop for UAVO comments
 (as used in other objects)

+review OPReview-430
---
 shared/uavobjectdefinition/systemalarms.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index 8780d031d..e3d12baa6 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -1,6 +1,6 @@
 <xml>
     <object name="SystemAlarms" singleinstance="true" settings="false">
-        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.Some modules may have a module defined Status and Substatus fields that details its condition</description>
+        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.  Some modules may have a module defined Status and Substatus fields that details its condition.</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
 		<elementnames>
 			<elementname>SystemConfiguration</elementname>

From 491e89b1654de5396d8a6871e0cc0d1f7b6feb45 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 19 Apr 2013 20:43:31 +0200
Subject: [PATCH 073/125] make: sort wildcard sources to make binaries
 identical on all platforms

Thanks to Amedee for finding the cause of the difference and CorvusCorax
for participating in the discussion.
---
 flight/PiOS/Common/Libraries/CMSIS2/library.mk   |  2 +-
 flight/PiOS/Common/Libraries/FreeRTOS/library.mk |  2 +-
 flight/PiOS/Common/Libraries/dosfs/library.mk    |  2 +-
 flight/PiOS/Common/Libraries/msheap/library.mk   |  2 +-
 flight/PiOS/STM32F10x/library.mk                 | 10 +++++-----
 flight/PiOS/STM32F4xx/library.mk                 | 10 +++++-----
 flight/PiOS/posix/Libraries/FreeRTOS/library.mk  |  2 +-
 flight/PiOS/posix/library.mk                     |  6 +++---
 make/apps-defs.mk                                |  4 ++--
 9 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/flight/PiOS/Common/Libraries/CMSIS2/library.mk b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
index fd9410ad0..e7d8e8572 100644
--- a/flight/PiOS/Common/Libraries/CMSIS2/library.mk
+++ b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
@@ -11,7 +11,7 @@ ifeq ($(USE_DSP_LIB), YES)
     CMSIS_DSPLIB	:= $(CMSIS2_DIR)DSP_Lib/Source
 
     # Compile all files into output directory
-    DSPLIB_SRC		:= $(wildcard $(CMSIS_DSPLIB)/*/*.c)
+    DSPLIB_SRC		:= $(sort $(wildcard $(CMSIS_DSPLIB)/*/*.c))
     DSPLIB_SRCBASE	:= $(notdir $(basename $(DSPLIB_SRC)))
     $(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/library.mk b/flight/PiOS/Common/Libraries/FreeRTOS/library.mk
index 9e101b273..70005c3c6 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/library.mk
+++ b/flight/PiOS/Common/Libraries/FreeRTOS/library.mk
@@ -6,5 +6,5 @@
 #
 
 FREERTOS_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))/Source
-SRC		+= $(wildcard $(FREERTOS_DIR)/*.c)
+SRC		+= $(sort $(wildcard $(FREERTOS_DIR)/*.c))
 EXTRAINCDIRS	+= $(FREERTOS_DIR)/include
diff --git a/flight/PiOS/Common/Libraries/dosfs/library.mk b/flight/PiOS/Common/Libraries/dosfs/library.mk
index 0e6fa982e..4b8499788 100644
--- a/flight/PiOS/Common/Libraries/dosfs/library.mk
+++ b/flight/PiOS/Common/Libraries/dosfs/library.mk
@@ -3,5 +3,5 @@
 #
 
 DOSFS_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))
-SRC		+= $(wildcard $(DOSFS_DIR)*.c)
+SRC		+= $(sort $(wildcard $(DOSFS_DIR)*.c))
 EXTRAINCDIRS	+= $(DOSFS_DIR)
diff --git a/flight/PiOS/Common/Libraries/msheap/library.mk b/flight/PiOS/Common/Libraries/msheap/library.mk
index 84a796e62..80a8b7e25 100644
--- a/flight/PiOS/Common/Libraries/msheap/library.mk
+++ b/flight/PiOS/Common/Libraries/msheap/library.mk
@@ -3,5 +3,5 @@
 #
 
 MSHEAP_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))
-SRC		+= $(wildcard $(MSHEAP_DIR)*.c)
+SRC		+= $(sort $(wildcard $(MSHEAP_DIR)*.c))
 EXTRAINCDIRS	+= $(MSHEAP_DIR)
diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
index df95cfc72..d0d5a0809 100644
--- a/flight/PiOS/STM32F10x/library.mk
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -18,7 +18,7 @@ ARCHFLAGS		+= -mcpu=cortex-m3 --specs=nano.specs
 ASRC			+= $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # PIOS device library source and includes
-SRC			+= $(wildcard $(PIOS_DEVLIB)*.c)
+SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 
 # CMSIS for the F1
 include $(PIOS)/Common/Libraries/CMSIS2/library.mk
@@ -29,12 +29,12 @@ EXTRAINCDIRS		+= $(CMSIS_DIR)
 
 # ST Peripheral library
 PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
-SRC			+= $(wildcard $(PERIPHLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB Device library
 USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
-SRC			+= $(wildcard $(USBDEVLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(USBDEVLIB)/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 
 #
@@ -45,7 +45,7 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 #
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c))
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
 endif
diff --git a/flight/PiOS/STM32F4xx/library.mk b/flight/PiOS/STM32F4xx/library.mk
index 531dbbfb2..a38b2720d 100644
--- a/flight/PiOS/STM32F4xx/library.mk
+++ b/flight/PiOS/STM32F4xx/library.mk
@@ -20,18 +20,18 @@ CDEFS			+= -DARM_MATH_CM4 -D__FPU_PRESENT=1
 ARCHFLAGS		+= -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
 
 # PIOS device library source and includes
-SRC			+= $(wildcard $(PIOS_DEVLIB)*.c)
+SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 EXTRAINCDIRS		+= $(PIOS_DEVLIB)inc
 
 # CMSIS for the F4
 include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
 CMSIS2_DEVICEDIR	:= $(PIOS_DEVLIB)Libraries/CMSIS2/Device/ST/STM32F4xx
-SRC			+= $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
+SRC			+= $(sort $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c))
 EXTRAINCDIRS		+= $(CMSIS2_DEVICEDIR)/Include
 
 # ST Peripheral library
 PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F4xx_StdPeriph_Driver
-SRC			+= $(wildcard $(PERIPHLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB OTG library
@@ -42,7 +42,7 @@ EXTRAINCDIRS		+= $(USBOTGLIB)/inc
 
 # ST USB Device library
 USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB_Device_Library
-SRC			+= $(wildcard $(USBDEVLIB)/Core/src/*.c)
+SRC			+= $(sort $(wildcard $(USBDEVLIB)/Core/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 
 #
@@ -53,7 +53,7 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 #
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
     include $(PIOSCOMMON)/Libraries/msheap/library.mk
 endif
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/library.mk b/flight/PiOS/posix/Libraries/FreeRTOS/library.mk
index c6267255f..08381319f 100644
--- a/flight/PiOS/posix/Libraries/FreeRTOS/library.mk
+++ b/flight/PiOS/posix/Libraries/FreeRTOS/library.mk
@@ -6,5 +6,5 @@
 #
 
 FREERTOS_DIR	:=	$(dir $(lastword $(MAKEFILE_LIST)))/Source
-SRC		+=	$(wildcard $(FREERTOS_DIR)/*.c)
+SRC		+=	$(sort $(wildcard $(FREERTOS_DIR)/*.c))
 EXTRAINCDIRS	+=	$(FREERTOS_DIR)/include
diff --git a/flight/PiOS/posix/library.mk b/flight/PiOS/posix/library.mk
index 530431210..79cadc5c7 100644
--- a/flight/PiOS/posix/library.mk
+++ b/flight/PiOS/posix/library.mk
@@ -27,7 +27,7 @@ ARCHFLAGS			+= -DARCH_POSIX
 #
 # PIOS device library source and includes
 #
-SRC					+=	$(wildcard $(PIOS_DEVLIB)*.c)
+SRC					+=	$(sort $(wildcard $(PIOS_DEVLIB)*.c))
 EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 
 #
@@ -68,8 +68,8 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 #
 ifneq ($(FREERTOS_DIR),)
 FREERTOS_PORTDIR	:=	$(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
-SRC					+=	$(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c)
-SRC					+=	$(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c)
+SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c))
+SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c))
 
 EXTRAINCDIRS		+=	$(FREERTOS_PORTDIR)/portable/GCC/Posix
 endif
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index e8ff9a016..1f23dc493 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -101,8 +101,8 @@ SRC += $(MATHLIB)/sin_lookup.c
 SRC += $(MATHLIB)/pid.c
 
 ## Modules
-SRC += $(foreach mod, $(MODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
-SRC += $(foreach mod, $(OPTMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
+SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
+SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 
 # Declare all non-optional modules as built-in to force inclusion.
 # Built-in modules are always enabled and cannot be disabled.

From 5e942bbd6dc166cded71b2a8e00306dc87a76532 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 19 Apr 2013 22:54:55 +0300
Subject: [PATCH 074/125] gcs: fix weird Windows build error if python is
 called w/o quotes

This fixes two problems:
- if OPENPILOT_TOOLS_DIR is set using backslashes, they should be
  converted to forward ones. Otherwise on Windows it can't run the
  program.
- for some weird reason the python called without quotes (regardless
  of full path used or not) tries to open whole command line as a file
  instead of the 1st parameter only. This works as it should from bash
  prompt. But executed by make it fails on Windows.
---
 ground/openpilotgcs/src/app/gcsversioninfo.pri | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/app/gcsversioninfo.pri b/ground/openpilotgcs/src/app/gcsversioninfo.pri
index 42a695695..cc1d9c629 100644
--- a/ground/openpilotgcs/src/app/gcsversioninfo.pri
+++ b/ground/openpilotgcs/src/app/gcsversioninfo.pri
@@ -17,16 +17,17 @@ PYTHON_DIR = python-2.7.4
     # Search the python using environment override first
     OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
     !isEmpty(OPENPILOT_TOOLS_DIR):exists($$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python*) {
-        PYTHON = $$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python
+        PYTHON = \"$$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python\"
     } else {
         # If not found, search the predefined tools path
         exists($$ROOT_DIR/tools/$$PYTHON_DIR/python*) {
-            PYTHON = $$ROOT_DIR/tools/$$PYTHON_DIR/python
+            PYTHON = \"$$ROOT_DIR/tools/$$PYTHON_DIR/python\"
         } else {
             # not found, hope it's in the path...
-            PYTHON = python
+            PYTHON = \"python\"
         }
     }
+    PYTHON = $$replace(PYTHON, \\\\, /)
     message(Using python interpreter: $$PYTHON)
 
     # Define other variables

From 343a4b9015f8fa577987bc12691ae6de10f8f939 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 20 Apr 2013 00:56:45 +0300
Subject: [PATCH 075/125] OP-886: cosmetic style and spacing fixes

---
 flight/Libraries/alarms.c         | 11 ++++-------
 flight/Modules/System/systemmod.c | 13 ++++++++-----
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index 94a1006ef..e0da51185 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -157,8 +157,7 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsDefaultAll()
 {
-    uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
         AlarmsDefault(n);
     }
 }
@@ -182,8 +181,7 @@ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsClearAll()
 {
-    uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
         AlarmsClear(n);
     }
 }
@@ -224,7 +222,6 @@ int32_t AlarmsHasCritical()
 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
 {
     SystemAlarmsData alarms;
-    uint32_t n;
 
     // Lock
     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
@@ -233,7 +230,7 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
     SystemAlarmsGet(&alarms);
 
     // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
         if (alarms.Alarm[n] >= severity) {
             xSemaphoreGiveRecursive(lock);
             return 1;
@@ -244,8 +241,8 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
     xSemaphoreGiveRecursive(lock);
     return 0;
 }
+
 /**
  * @}
  * @}
  */
-
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 5de110488..4b8cc6772 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -39,8 +39,10 @@
  */
 
 #include <openpilot.h>
+
 // private includes
 #include "inc/systemmod.h"
+
 // UAVOs
 #include <objectpersistence.h>
 #include <flightstatus.h>
@@ -51,6 +53,7 @@
 #include <watchdogstatus.h>
 #include <taskmonitor.h>
 #include <hwsettings.h>
+
 // Flight Libraries
 #include <sanitycheck.h>
 
@@ -69,8 +72,8 @@
 
 #ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998	// calibrated by running tests/test_cpuload.c
-											  // must be updated if the FreeRTOS or compiler
-											  // optimisation options are changed.
+						// must be updated if the FreeRTOS or compiler
+						// optimisation options are changed.
 #endif
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
@@ -177,8 +180,8 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
-    // Load a copy of HwSetting active at boot time
-    HwSettingsGet(&bootHwSettings);
+	// Load a copy of HwSetting active at boot time
+	HwSettingsGet(&bootHwSettings);
 	// Whenever the configuration changes, make sure it is safe to fly
 	HwSettingsConnectCallback(hwSettingsUpdatedCb);
 
@@ -314,7 +317,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
 			retval = PIOS_FLASHFS_Format(0);
 #else
-            retval = -1;
+			retval = -1;
 #endif
 		}
 		switch(retval) {

From 6074828807cc56cc22dae7588dca3dfa12c39e62 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sat, 20 Apr 2013 00:04:06 +0200
Subject: [PATCH 076/125] OP-769 main.cpp fixed review comments (OPReview-440)

---
 ground/openpilotgcs/src/app/main.cpp | 66 ++++++++++++----------------
 1 file changed, 27 insertions(+), 39 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index 4db9e429a..ba237041d 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -39,7 +39,7 @@
 
  The -reset switch will clear all the user settings and will trigger a reload of the factory defaults.
 
- You can combine it with the -configfile=<file> command line argument to quickly switch between multiple settings files.
+ You can combine it with the -config-file=<file> command line argument to quickly switch between multiple settings files.
 
  [code]
  openpilotgcs -reset -config-file ./MyOpenPilotGCS.xml
@@ -55,7 +55,7 @@
  Quickly switch configurations
 
  [code]
- -reset -config-file <relative or absolute path>
+ openpilotgcs -reset -config-file <relative or absolute path>
  [/code]
 
  Configuring GCS from installer
@@ -65,14 +65,14 @@
  If the user chooses to start GCS at the end of the installer:
 
  [code]
- -D General/OverrideLanguage=de
+ openpilotgcs -D General/OverrideLanguage=de
  [/code]
 
  If the user chooses not to start GCS at the end of the installer, you still need to configure GCS.
  In that case you can use -exit-after-config
 
  [code]
- -D General/OverrideLanguage=de -exit-after-config
+ openpilotgcs -D General/OverrideLanguage=de -exit-after-config
  [/code]
 
  */
@@ -127,7 +127,7 @@ namespace {
 
     const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
-    const char *fixedOptionsC = " [OPTION]... [FILE]...\n"
+    const char *fixedOptionsC = " [OPTION]...\n"
             "Options:\n"
             "    -help               Display this help\n"
             "    -version            Display application version\n"
@@ -151,66 +151,56 @@ namespace {
     const QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
 
     // Helpers for displaying messages. Note that there is no console on Windows.
-#ifdef Q_OS_WIN
-
-    // Format as <pre> HTML
-    inline void toHtml(QString &t)
+    void displayHelpText(QString t)
     {
+#ifdef Q_OS_WIN
+        // No console on Windows. (???)
+        // TODO there is a console on windows and popups are not always desired
         t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
         t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
         t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
         t.insert(0, QLatin1String("<html><pre>"));
         t.append(QLatin1String("</pre></html>"));
-    }
-
-    void displayHelpText(QString t) // No console on Windows.
-    {
-        toHtml(t);
         QMessageBox::information(0, APP_NAME, t);
-    }
-
-    void displayError(const QString &t) // No console on Windows.
-    {
-        QMessageBox::critical(0, APP_NAME, t);
-    }
-
 #else
-
-    void displayHelpText(const QString &t)
-    {
         qWarning("%s", qPrintable(t));
+#endif
     }
 
     void displayError(const QString &t)
     {
+#ifdef Q_OS_WIN
+        // No console on Windows. (???)
+        // TODO there is a console on windows and popups are not always desired
+        QMessageBox::critical(0, APP_NAME, t);
+#else
         qCritical("%s", qPrintable(t));
+#endif
     }
 
-#endif
-
-    void printVersion(const ExtensionSystem::PluginSpec *coreplugin, const ExtensionSystem::PluginManager &pm)
+    void printVersion(const ExtensionSystem::PluginSpec *corePlugin, const ExtensionSystem::PluginManager &pm)
     {
         QString version;
         QTextStream str(&version);
-        str << '\n' << APP_NAME << ' ' << coreplugin->version() << " based on Qt " << qVersion() << "\n\n";
+        str << '\n' << APP_NAME << ' ' << corePlugin->version() << " based on Qt " << qVersion() << "\n\n";
         pm.formatPluginVersions(str);
-        str << '\n' << coreplugin->copyright() << '\n';
+        str << '\n' << corePlugin->copyright() << '\n';
         displayHelpText(version);
     }
 
-    void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
+    void printHelp(const QString &appExecName, const ExtensionSystem::PluginManager &pm)
     {
         QString help;
         QTextStream str(&help);
-        str << "Usage: " << a0 << fixedOptionsC;
+        str << "Usage: " << appExecName << fixedOptionsC;
         ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
         pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
         displayHelpText(help);
     }
 
-    inline QString msgCoreLoadFailure(const QString &why)
+    inline QString msgCoreLoadFailure(const QString &reason)
     {
-        return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
+        return QCoreApplication::translate("Application", "Failed to load core plug-in, reason is: %1").arg(reason);
     }
 
     inline QString msgSendArgumentFailed()
@@ -366,8 +356,7 @@ namespace {
 
         // transfer loaded settings to application settings
         QStringList keys = qs.allKeys();
-        foreach(QString key, keys)
-        {
+        foreach(QString key, keys) {
             settings.setValue(key, qs.value(key));
         }
 
@@ -469,7 +458,7 @@ int main(int argc, char **argv)
     overrideSettings(settings, argc, argv);
 
     // initialize GCS locale
-    // use the value defined by the General/Locale setting or default to system locale.
+    // use the value defined by the General/Locale setting or default to system Locale.
     // the General/Locale setting is not available in the Options dialog, it is a hidden setting but can still be changed:
     // - through the command line
     // - editing the factory defaults XML file before 1st launch
@@ -477,7 +466,7 @@ int main(int argc, char **argv)
     QString localeName = settings.value("General/Locale", QLocale::system().name()).toString();
     QLocale::setDefault(localeName);
 
-    // some debuging
+    // some debugging
     qDebug() << "main - system locale:" << QLocale::system().name();
     qDebug() << "main - GCS locale:" << QLocale().name();
 
@@ -512,8 +501,7 @@ int main(int argc, char **argv)
     // find and load core plugin
     const PluginSpecSet plugins = pluginManager.plugins();
     ExtensionSystem::PluginSpec *coreplugin = 0;
-    foreach (ExtensionSystem::PluginSpec *spec, plugins)
-    {
+    foreach (ExtensionSystem::PluginSpec *spec, plugins) {
         if (spec->name() == CORE_PLUGIN_NAME) {
             coreplugin = spec;
             break;

From 220b4b504256341512a5ec90a47e9059a45036ce Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 20 Apr 2013 02:10:40 +0300
Subject: [PATCH 077/125] OP-886: use enum for extended alarm status field

See also:
    http://reviews.openpilot.org/cru/OPReview-430
    http://progress.openpilot.org/browse/OP-915
---
 flight/Libraries/alarms.c                   | 11 +++++++----
 flight/Libraries/inc/alarms.h               |  5 ++++-
 flight/Libraries/inc/sanitycheck.h          |  8 +-------
 flight/Libraries/sanitycheck.c              |  7 +++----
 flight/Modules/System/systemmod.c           |  2 +-
 shared/uavobjectdefinition/systemalarms.xml |  7 ++++++-
 6 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index e0da51185..b3706ba24 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -91,11 +91,14 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
  * Set an Extended Alarm
  * @param alarm The system alarm to be modified
  * @param severity The alarm severity
- * @param status: the Extended alarm status field
- * @param subStatus: the Extended alarm substatus field
+ * @param status The Extended alarm status field
+ * @param subStatus The Extended alarm substatus field
  * @return 0 if success, -1 if an error
  */
-int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus)
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
+			  SystemAlarmsAlarmOptions severity,
+			  SystemAlarmsExtendedAlarmStatusOptions status,
+			  uint8_t subStatus)
 {
     SystemAlarmsData alarms;
 
@@ -170,7 +173,7 @@ void AlarmsDefaultAll()
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 {
     if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
-        return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, 0, 0);
+        return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
     } else {
         return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
     }
diff --git a/flight/Libraries/inc/alarms.h b/flight/Libraries/inc/alarms.h
index dc785015e..e91a3be55 100644
--- a/flight/Libraries/inc/alarms.h
+++ b/flight/Libraries/inc/alarms.h
@@ -33,7 +33,10 @@
 
 int32_t AlarmsInitialize(void);
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus);
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
+			  SystemAlarmsAlarmOptions severity,
+			  SystemAlarmsExtendedAlarmStatusOptions status,
+			  uint8_t subStatus);
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
 void AlarmsDefaultAll();
diff --git a/flight/Libraries/inc/sanitycheck.h b/flight/Libraries/inc/sanitycheck.h
index 9ee72f3c5..b7fd74ca3 100644
--- a/flight/Libraries/inc/sanitycheck.h
+++ b/flight/Libraries/inc/sanitycheck.h
@@ -29,15 +29,9 @@
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
-#define SANITYCHECK_STATUS_ERROR_NONE 0
-#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE 1
-
-#define BOOTFAULT_STATUS_ERROR_NONE 0
-#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT 1
-
 #if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
     (SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
-#error incongruent SystemAlarms. Please revise the UAVO definition in SystemAlarm.xml
+#error Incongruent SystemAlarms. Please revise the UAVO definition in systemalarms.xml
 #endif
 
 extern int32_t configuration_check();
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index c98369597..07940d764 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -54,7 +54,7 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
 int32_t configuration_check()
 {
     int32_t severity = SYSTEMALARMS_ALARM_OK;
-    uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
+    SystemAlarmsExtendedAlarmStatusOptions alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
     uint8_t alarmsubstatus = 0;
     // Get board type
     const struct pios_board_info * bdinfo = &pios_board_info_blob;
@@ -134,9 +134,8 @@ int32_t configuration_check()
                 severity = SYSTEMALARMS_ALARM_ERROR;
         }
         // mark the first encountered erroneous setting in status and substatus
-        if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
-        {
-            alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
+        if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) {
+            alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE;
             alarmsubstatus = i;
         }
 
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 4b8cc6772..b3f5f6db8 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -344,7 +344,7 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev)
     HwSettingsGet(&currentHwSettings);
     // check whether the Hw Configuration has changed from the one used at boot time
     if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
-        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
     }
 }
 
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index b34bd1612..fedeef14a 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -23,11 +23,16 @@
 			<elementname>Power</elementname>
 		</elementnames>
 	</field>
-	<field name="ExtendedAlarmStatus" units="" type="uint8" defaultvalue="0">
+	<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
 		<elementnames>
 			<elementname>SystemConfiguration</elementname>
 			<elementname>BootFault</elementname>
 		</elementnames>
+		<options>
+			<option>None</option>
+			<option>RebootRequired</option>
+			<option>FlightMode</option>
+		</options>
 	</field>
 	<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">
 		<elementnames>

From cfbd9b2728fed3f7c27d32e2d8af7454c4799ead Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sat, 20 Apr 2013 14:04:28 +0200
Subject: [PATCH 078/125] OP-769 main.cpp various cleanups

---
 ground/openpilotgcs/src/app/main.cpp | 29 +++++++++++++---------------
 1 file changed, 13 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index ba237041d..a9183f0af 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -100,7 +100,6 @@
 #include <QtGui/QApplication>
 #include <QtGui/QMainWindow>
 #include <QtGui/QSplashScreen>
-#include <QtGui/QPainter>
 
 namespace {
 
@@ -108,9 +107,8 @@ namespace {
     typedef QMap<QString, bool> AppOptions;
     typedef QMap<QString, QString> AppOptionValues;
 
-    enum {
-        OptionIndent = 4, DescriptionIndent = 24
-    };
+    const int OptionIndent = 4;
+    const int DescriptionIndent = 24;
 
     const QLatin1String APP_NAME("OpenPilot GCS");
 
@@ -127,7 +125,7 @@ namespace {
 
     const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
-    const char *fixedOptionsC = " [OPTION]...\n"
+    const char *fixedOptionsC = " [OPTION]... [FILE]...\n"
             "Options:\n"
             "    -help               Display this help\n"
             "    -version            Display application version\n"
@@ -211,16 +209,16 @@ namespace {
 
     // Prepare a remote argument: If it is a relative file, add the current directory
     // since the the central instance might be running in a different directory.
-    inline QString prepareRemoteArgument(const QString &a)
+    inline QString prepareRemoteArgument(const QString &arg)
     {
-        QFileInfo fi(a);
+        QFileInfo fi(arg);
         if (!fi.exists()) {
-            return a;
+            return arg;
         }
         if (fi.isRelative()) {
             return fi.absoluteFilePath();
         }
-        return a;
+        return arg;
     }
 
     // Send the arguments to an already running instance of application
@@ -321,12 +319,12 @@ namespace {
         // check if command line option -config-file contains a file name
         QString commandLine = appOptionValues.value(CONFIG_FILE_OPTION);
         if (!commandLine.isEmpty()) {
-            if (QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
+            QFileInfo fi(commandLine);
+            if (fi.isRelative()) {
                 // file name specified on command line has a relative path
-                fileName = directory.absolutePath() + QDir::separator() + commandLine;
-                qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
-            } else if (QFile::exists(commandLine)) {
-                // file name specified on command line has an absolutee path
+                commandLine = directory.absolutePath() + QDir::separator() + commandLine;
+            }
+            if (QFile::exists(commandLine)) {
                 fileName = commandLine;
                 qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
             } else {
@@ -543,8 +541,7 @@ int main(int argc, char **argv)
 
     {
         QStringList errors;
-        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
-        {
+        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins()) {
             if (p->hasError()) {
                 errors.append(p->errorString());
             }

From dd37c31a0713ccdf82a8566d267192a8f16550dd Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 20 Apr 2013 13:59:25 +0200
Subject: [PATCH 079/125] OP-886 Fixes to styles, used enum for
 ExtendedAlarmStatus

Conflicts:
	flight/Libraries/inc/sanitycheck.h
	shared/uavobjectdefinition/systemalarms.xml
---
 flight/Libraries/inc/sanitycheck.h | 8 ++++++++
 flight/Libraries/sanitycheck.c     | 1 -
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/flight/Libraries/inc/sanitycheck.h b/flight/Libraries/inc/sanitycheck.h
index b7fd74ca3..214b50cfc 100644
--- a/flight/Libraries/inc/sanitycheck.h
+++ b/flight/Libraries/inc/sanitycheck.h
@@ -26,9 +26,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <systemalarms.h>
+
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
+#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
+
+#define BOOTFAULT_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
+#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
+
 #if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
     (SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
 #error Incongruent SystemAlarms. Please revise the UAVO definition in systemalarms.xml
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index 07940d764..75c1fd6b2 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -35,7 +35,6 @@
 
 // UAVOs
 #include <manualcontrolsettings.h>
-#include <systemalarms.h>
 #include <systemsettings.h>
 
 /****************************

From 8011a9476d26f3dada48778d14d3906ddf1d22fa Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 20 Apr 2013 15:24:12 +0200
Subject: [PATCH 080/125] OP-886 fixed a bug caused by wrong check for
 xSemaphoreTakeRecursive return code

Conflicts:
	flight/Libraries/alarms.c
---
 flight/Libraries/alarms.c | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index b3706ba24..78238a3bf 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -70,9 +70,7 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     }
 
     // Lock
-    if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
-        return -1;
-    }
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
@@ -108,9 +106,7 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
     }
 
     // Lock
-    if (xSemaphoreTakeRecursive(lock, portMAX_DELAY) != 0) {
-        return -1;
-    }
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);

From d64b1e5c90ae9beb785800f7898f386b6faaff83 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 20 Apr 2013 23:02:51 +0200
Subject: [PATCH 081/125] OP-908 clean some defines from sensor.c

+review OPReview-436
---
 flight/Modules/Sensors/sensors.c | 35 ++++++++++++++++----------------
 1 file changed, 17 insertions(+), 18 deletions(-)

diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index 5b909f5e3..5db0086e9 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -46,20 +46,21 @@
  *
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
 
-#include "homelocation.h"
-#include "magnetometer.h"
-#include "magbias.h"
-#include "accels.h"
-#include "gyros.h"
-#include "gyrosbias.h"
-#include "attitudeactual.h"
-#include "attitudesettings.h"
-#include "revocalibration.h"
-#include "flightstatus.h"
-#include "CoordinateConversions.h"
+#include <homelocation.h>
+#include <magnetometer.h>
+#include <magbias.h>
+#include <accels.h>
+#include <gyros.h>
+#include <gyrosbias.h>
+#include <attitudeactual.h>
+#include <attitudesettings.h>
+#include <revocalibration.h>
+#include <flightstatus.h>
+#include <CoordinateConversions.h>
 
+#include <pios_math.h>
 #include <pios_board_info.h>
 
 // Private constants
@@ -67,8 +68,6 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define SENSOR_PERIOD 2
 
-#define F_PI ((float)M_PI)
-#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
 // Private types
 
 
@@ -302,7 +301,7 @@ static void SensorsTask(void *parameters)
 			{
 				struct pios_mpu6000_data mpu6000_data;
 				xQueueHandle queue = PIOS_MPU6000_GetQueue();
-				
+
 				while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
 				{
 					gyro_accum[0] += mpu6000_data.gyro_x;
@@ -316,7 +315,7 @@ static void SensorsTask(void *parameters)
 					gyro_samples ++;
 					accel_samples ++;
 				}
-				
+
 				if (gyro_samples == 0) {
 					PIOS_MPU6000_ReadGyros(&mpu6000_data);
 					error = true;
@@ -498,8 +497,8 @@ static void magOffsetEstimation(MagnetometerData *mag)
 	B_e[1] = R[0][1] * mag->x + R[1][1] * mag->y + R[2][1] * mag->z;
 	B_e[2] = R[0][2] * mag->x + R[1][2] * mag->y + R[2][2] * mag->z;
 	
-	float cy = cosf(attitude.Yaw * F_PI / 180.0f);
-	float sy = sinf(attitude.Yaw * F_PI / 180.0f);
+	float cy = cosf(DEG2RAD(attitude.Yaw));
+	float sy = sinf(DEG2RAD(attitude.Yaw));
 	
 	xy[0] =  cy * B_e[0] + sy * B_e[1];
 	xy[1] = -sy * B_e[0] + cy * B_e[1];

From 8d1e1fdbc012d9b35646971f53df70cb959f9263 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 22 Apr 2013 02:43:53 +0300
Subject: [PATCH 082/125] tools: make uncrustify_install target, script and
 base config file

See also: OPIN-3
---
 Makefile                                      |   27 +
 flight/Libraries/PyMite/.no-auto-format       |    0
 flight/Libraries/rscode/.no-auto-format       |    0
 flight/PiOS.osx/osx/Libraries/.no-auto-format |    0
 .../win32/Libraries/.no-auto-format           |    0
 flight/PiOS/Common/Libraries/.no-auto-format  |    0
 .../PiOS/STM32F10x/Libraries/.no-auto-format  |    0
 .../PiOS/STM32F4xx/Libraries/.no-auto-format  |    0
 flight/PiOS/posix/Libraries/.no-auto-format   |    0
 .../src/libs/eigen/.no-auto-format            |    0
 .../src/libs/glc_lib/.no-auto-format          |    0
 .../src/libs/libqxt/.no-auto-format           |    0
 .../openpilotgcs/src/libs/qwt/.no-auto-format |    0
 make/.gitattributes                           |    2 +
 make/firmware-defs.mk                         |    1 -
 make/scripts/uncrustify.sh                    |   56 +
 make/templates/uncrustify.cfg                 | 1583 +++++++++++++++++
 make/tools.mk                                 |  102 +-
 18 files changed, 1745 insertions(+), 26 deletions(-)
 create mode 100644 flight/Libraries/PyMite/.no-auto-format
 create mode 100644 flight/Libraries/rscode/.no-auto-format
 create mode 100644 flight/PiOS.osx/osx/Libraries/.no-auto-format
 create mode 100644 flight/PiOS.win32/win32/Libraries/.no-auto-format
 create mode 100644 flight/PiOS/Common/Libraries/.no-auto-format
 create mode 100644 flight/PiOS/STM32F10x/Libraries/.no-auto-format
 create mode 100644 flight/PiOS/STM32F4xx/Libraries/.no-auto-format
 create mode 100644 flight/PiOS/posix/Libraries/.no-auto-format
 create mode 100644 ground/openpilotgcs/src/libs/eigen/.no-auto-format
 create mode 100644 ground/openpilotgcs/src/libs/glc_lib/.no-auto-format
 create mode 100644 ground/openpilotgcs/src/libs/libqxt/.no-auto-format
 create mode 100644 ground/openpilotgcs/src/libs/qwt/.no-auto-format
 create mode 100644 make/scripts/uncrustify.sh
 create mode 100644 make/templates/uncrustify.cfg

diff --git a/Makefile b/Makefile
index f0e7e9720..8cad778d3 100644
--- a/Makefile
+++ b/Makefile
@@ -790,6 +790,28 @@ package: all_fw all_ground uavobjects_matlab
 	$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,))
 	$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
 
+##############################
+#
+# Source code formatting
+#
+##############################
+
+# $(1) = Uncrustify target (e.g flight or ground)
+# $(2) = Target root directory
+define UNCRUSTIFY_TEMPLATE
+
+.PHONY: uncrustify_$(1)
+uncrustify_$(1):
+	@$(ECHO) "Auto-formatting $(1) source code"
+	$(V1) UNCRUSTIFY_CONFIG="make/templates/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
+endef
+
+$(eval $(call UNCRUSTIFY_TEMPLATE,flight,$(ROOT_DIR)/flight))
+$(eval $(call UNCRUSTIFY_TEMPLATE,ground,$(ROOT_DIR)/ground))
+
+.PHONY: uncrustify_all
+uncrustify_all: $(addprefix uncrustify_,flight ground)
+
 ##############################
 #
 # Build info
@@ -825,6 +847,7 @@ help:
 	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 	@$(ECHO) "     mingw_install        - Install the MinGW toolchain (Windows only)"
 	@$(ECHO) "     python_install       - Install the Python interpreter (Windows only)"
+	@$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 	@$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 	@$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 	@$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
@@ -919,6 +942,10 @@ help:
 	@$(ECHO) "     clean_package        - Clean, build and package the OpenPilot platform-dependent package"
 	@$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package"
 	@$(ECHO)
+	@$(ECHO) "   [Code Formatting]"
+	@$(ECHO) "     uncrustify_<source>  - Reformat <source> code. <source> can be flight or ground"
+	@$(ECHO) "     uncrustify_all       - Reformat all source code"
+	@$(ECHO)
 	@$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 	@$(ECHO)
 	@$(ECHO) "   Notes: All tool distribution files will be downloaded into $(DL_DIR)"
diff --git a/flight/Libraries/PyMite/.no-auto-format b/flight/Libraries/PyMite/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/Libraries/rscode/.no-auto-format b/flight/Libraries/rscode/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS.osx/osx/Libraries/.no-auto-format b/flight/PiOS.osx/osx/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS.win32/win32/Libraries/.no-auto-format b/flight/PiOS.win32/win32/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS/Common/Libraries/.no-auto-format b/flight/PiOS/Common/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS/STM32F10x/Libraries/.no-auto-format b/flight/PiOS/STM32F10x/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS/STM32F4xx/Libraries/.no-auto-format b/flight/PiOS/STM32F4xx/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/flight/PiOS/posix/Libraries/.no-auto-format b/flight/PiOS/posix/Libraries/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/libs/eigen/.no-auto-format b/ground/openpilotgcs/src/libs/eigen/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/libs/glc_lib/.no-auto-format b/ground/openpilotgcs/src/libs/glc_lib/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/libs/libqxt/.no-auto-format b/ground/openpilotgcs/src/libs/libqxt/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/libs/qwt/.no-auto-format b/ground/openpilotgcs/src/libs/qwt/.no-auto-format
new file mode 100644
index 000000000..e69de29bb
diff --git a/make/.gitattributes b/make/.gitattributes
index 66e2df4a4..0b8884f06 100644
--- a/make/.gitattributes
+++ b/make/.gitattributes
@@ -4,7 +4,9 @@
 
 *.mk		text eol=lf
 *.py		text eol=lf
+*.sh		text eol=lf
 
 /templates/firmwareinfotemplate.c 	text eol=lf
 /templates/gcs_version_info_template.h	text eol=crlf
 /templates/*.txt			text eol=crlf
+/templates/uncrustify.cfg		text eol=lf
diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk
index 6da1281ef..ca7c42c67 100644
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@@ -60,7 +60,6 @@ MSG_CLEANING         = $(QUOTE) CLEAN     $(MSG_EXTRA) $(QUOTE)
 MSG_ASMFROMC         = $(QUOTE) AS(C)     $(MSG_EXTRA) $(QUOTE)
 MSG_ASMFROMC_ARM     = $(QUOTE) AS(C)-ARM $(MSG_EXTRA) $(QUOTE)
 MSG_PYMITEINIT       = $(QUOTE) PY        $(MSG_EXTRA) $(QUOTE)
-MSG_INSTALLING       = $(QUOTE) INSTALL   $(MSG_EXTRA) $(QUOTE)
 MSG_OPFIRMWARE       = $(QUOTE) OPFW      $(MSG_EXTRA) $(QUOTE)
 MSG_FWINFO           = $(QUOTE) FWINFO    $(MSG_EXTRA) $(QUOTE)
 MSG_JTAG_PROGRAM     = $(QUOTE) JTAG-PGM  $(MSG_EXTRA) $(QUOTE)
diff --git a/make/scripts/uncrustify.sh b/make/scripts/uncrustify.sh
new file mode 100644
index 000000000..aee251933
--- /dev/null
+++ b/make/scripts/uncrustify.sh
@@ -0,0 +1,56 @@
+#!/bin/bash -e
+#
+# uncrustify.sh - source code processing script.
+# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+# The following environment variables must be set
+: ${UNCRUSTIFY?} ${UNCRUSTIFY_CONFIG?}
+
+# No format flag file name
+NO_FORMAT=.no-auto-format
+
+# Recursive directory tree walk function
+recursive()
+{
+    if [ -d "$1" ]; then
+        # skip directory if no-format file is found
+        if [ -f "$1/$NO_FORMAT" ]; then
+            echo "Skipping: $1/"
+            return
+        fi
+        echo "Processing: $1/"
+
+        # process all files and subdirectories
+        local name
+        for name in $1/*; do
+            recursive "$name"
+        done
+    else
+        # process only known file extensions
+        case "$1" in
+            *.c|*.h|*.cc|*.cpp|*.hpp)
+                ${UNCRUSTIFY} -c "${UNCRUSTIFY_CONFIG}" --no-backup "$1"
+                ;;
+        esac
+    fi
+}
+
+# Entry point
+for dir in $*; do
+    recursive "$dir"
+done
diff --git a/make/templates/uncrustify.cfg b/make/templates/uncrustify.cfg
new file mode 100644
index 000000000..45a67b6b3
--- /dev/null
+++ b/make/templates/uncrustify.cfg
@@ -0,0 +1,1583 @@
+#
+# Uncrustify 0.60
+#
+# The OpenPilot project source code style and format definitions.
+# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
+#
+
+#
+# General options
+#
+
+# The type of line endings
+newlines                                 = auto     # auto/lf/crlf/cr
+
+# The original size of tabs in the input
+input_tab_size                           = 8        # number
+
+# The size of tabs in the output (only used if align_with_tabs=true)
+output_tab_size                          = 8        # number
+
+# The ASCII value of the string escape char, usually 92 (\) or 94 (^). (Pawn)
+string_escape_char                       = 92       # number
+
+# Alternate string escape char for Pawn. Only works right before the quote char.
+string_escape_char2                      = 0        # number
+
+# Allow interpreting '>=' and '>>=' as part of a template in 'void f(list<list<B>>=val);'.
+# If true (default), 'assert(x<0 && y>=3)' will be broken.
+# Improvements to template detection may make this option obsolete.
+tok_split_gte                            = false    # false/true
+
+# Control what to do with the UTF-8 BOM (recommend 'remove')
+utf8_bom                                 = remove   # ignore/add/remove/force
+
+# If the file contains bytes with values between 128 and 255, but is not UTF-8, then output as UTF-8
+utf8_byte                                = false    # false/true
+
+# Force the output encoding to UTF-8
+utf8_force                               = false    # false/true
+
+#
+# Indenting
+#
+
+# The number of columns to indent per level.
+# Usually 2, 3, 4, or 8.
+indent_columns                           = 4        # number
+
+# The continuation indent. If non-zero, this overrides the indent of '(' and '=' continuation indents.
+# For FreeBSD, this is set to 4. Negative value is absolute and not increased for each ( level
+indent_continue                          = 0        # number
+
+# How to use tabs when indenting code
+# 0=spaces only
+# 1=indent with tabs to brace level, align with spaces
+# 2=indent and align with tabs, using spaces when not on a tabstop
+indent_with_tabs                         = 0        # number
+
+# Comments that are not a brace level are indented with tabs on a tabstop.
+# Requires indent_with_tabs=2. If false, will use spaces.
+indent_cmt_with_tabs                     = false    # false/true
+
+# Whether to indent strings broken by '\' so that they line up
+indent_align_string                      = false    # false/true
+
+# The number of spaces to indent multi-line XML strings.
+# Requires indent_align_string=True
+indent_xml_string                        = 0        # number
+
+# Spaces to indent '{' from level
+indent_brace                             = 0        # number
+
+# Whether braces are indented to the body level
+indent_braces                            = false    # false/true
+
+# Disabled indenting function braces if indent_braces is true
+indent_braces_no_func                    = false    # false/true
+
+# Disabled indenting class braces if indent_braces is true
+indent_braces_no_class                   = false    # false/true
+
+# Disabled indenting struct braces if indent_braces is true
+indent_braces_no_struct                  = false    # false/true
+
+# Indent based on the size of the brace parent, i.e. 'if' => 3 spaces, 'for' => 4 spaces, etc.
+indent_brace_parent                      = false    # false/true
+
+# Whether the 'namespace' body is indented
+indent_namespace                         = false    # false/true
+
+# The number of spaces to indent a namespace block
+indent_namespace_level                   = 0        # number
+
+# If the body of the namespace is longer than this number, it won't be indented.
+# Requires indent_namespace=true. Default=0 (no limit)
+indent_namespace_limit                   = 0        # number
+
+# Whether the 'extern "C"' body is indented
+indent_extern                            = false    # false/true
+
+# Whether the 'class' body is indented
+indent_class                             = false    # false/true
+
+# Whether to indent the stuff after a leading class colon
+indent_class_colon                       = false    # false/true
+
+# Virtual indent from the ':' for member initializers. Default is 2
+indent_ctor_init_leading                 = 2        # number
+
+# Additional indenting for constructor initializer list
+indent_ctor_init                         = 0        # number
+
+# False=treat 'else\nif' as 'else if' for indenting purposes
+# True=indent the 'if' one level
+indent_else_if                           = false    # false/true
+
+# Amount to indent variable declarations after a open brace. neg=relative, pos=absolute
+indent_var_def_blk                       = 0        # number
+
+# Indent continued variable declarations instead of aligning.
+indent_var_def_cont                      = false    # false/true
+
+# True:  force indentation of function definition to start in column 1
+# False: use the default behavior
+indent_func_def_force_col1               = false    # false/true
+
+# True:  indent continued function call parameters one indent level
+# False: align parameters under the open paren
+indent_func_call_param                   = false    # false/true
+
+# Same as indent_func_call_param, but for function defs
+indent_func_def_param                    = false    # false/true
+
+# Same as indent_func_call_param, but for function protos
+indent_func_proto_param                  = false    # false/true
+
+# Same as indent_func_call_param, but for class declarations
+indent_func_class_param                  = false    # false/true
+
+# Same as indent_func_call_param, but for class variable constructors
+indent_func_ctor_var_param               = false    # false/true
+
+# Same as indent_func_call_param, but for templates
+indent_template_param                    = false    # false/true
+
+# Double the indent for indent_func_xxx_param options
+indent_func_param_double                 = false    # false/true
+
+# Indentation column for standalone 'const' function decl/proto qualifier
+indent_func_const                        = 0        # number
+
+# Indentation column for standalone 'throw' function decl/proto qualifier
+indent_func_throw                        = 0        # number
+
+# The number of spaces to indent a continued '->' or '.'
+# Usually set to 0, 1, or indent_columns.
+indent_member                            = 0        # number
+
+# Spaces to indent single line ('//') comments on lines before code
+indent_sing_line_comments                = 0        # number
+
+# If set, will indent trailing single line ('//') comments relative
+# to the code instead of trying to keep the same absolute column
+indent_relative_single_line_comments     = false    # false/true
+
+# Spaces to indent 'case' from 'switch'
+# Usually 0 or indent_columns.
+indent_switch_case                       = 0        # number
+
+# Spaces to shift the 'case' line, without affecting any other lines
+# Usually 0.
+indent_case_shift                        = 0        # number
+
+# Spaces to indent '{' from 'case'.
+# By default, the brace will appear under the 'c' in case.
+# Usually set to 0 or indent_columns.
+indent_case_brace                        = 0        # number
+
+# Whether to indent comments found in first column
+indent_col1_comment                      = false    # false/true
+
+# How to indent goto labels
+#  >0 : absolute column where 1 is the leftmost column
+#  <=0 : subtract from brace indent
+indent_label                             = 1        # number
+
+# Same as indent_label, but for access specifiers that are followed by a colon
+indent_access_spec                       = 1        # number
+
+# Indent the code after an access specifier by one level.
+# If set, this option forces 'indent_access_spec=0'
+indent_access_spec_body                  = false    # false/true
+
+# If an open paren is followed by a newline, indent the next line so that it lines up after the open paren (not recommended)
+indent_paren_nl                          = false    # false/true
+
+# Controls the indent of a close paren after a newline.
+# 0: Indent to body level
+# 1: Align under the open paren
+# 2: Indent to the brace level
+indent_paren_close                       = 0        # number
+
+# Controls the indent of a comma when inside a paren.If TRUE, aligns under the open paren
+indent_comma_paren                       = false    # false/true
+
+# Controls the indent of a BOOL operator when inside a paren.If TRUE, aligns under the open paren
+indent_bool_paren                        = false    # false/true
+
+# If 'indent_bool_paren' is true, controls the indent of the first expression. If TRUE, aligns the first expression to the following ones
+indent_first_bool_expr                   = false    # false/true
+
+# If an open square is followed by a newline, indent the next line so that it lines up after the open square (not recommended)
+indent_square_nl                         = false    # false/true
+
+# Don't change the relative indent of ESQL/C 'EXEC SQL' bodies
+indent_preserve_sql                      = false    # false/true
+
+# Align continued statements at the '='. Default=True
+# If FALSE or the '=' is followed by a newline, the next line is indent one tab.
+indent_align_assign                      = true     # false/true
+
+# Indent OC blocks at brace level instead of usual rules.
+indent_oc_block                          = false    # false/true
+
+# Indent OC blocks in a message relative to the parameter name.
+# 0=use indent_oc_block rules, 1+=spaces to indent
+indent_oc_block_msg                      = 0        # number
+
+# Minimum indent for subsequent parameters
+indent_oc_msg_colon                      = 0        # number
+
+#
+# Spacing options
+#
+
+# Add or remove space around arithmetic operator '+', '-', '/', '*', etc
+sp_arith                                 = force    # ignore/add/remove/force
+
+# Add or remove space around assignment operator '=', '+=', etc
+sp_assign                                = force    # ignore/add/remove/force
+
+# Add or remove space around '=' in C++11 lambda capture specifications. Overrides sp_assign
+sp_cpp_lambda_assign                     = ignore   # ignore/add/remove/force
+
+# Add or remove space after the capture specification in C++11 lambda.
+sp_cpp_lambda_paren                      = ignore   # ignore/add/remove/force
+
+# Add or remove space around assignment operator '=' in a prototype
+sp_assign_default                        = force    # ignore/add/remove/force
+
+# Add or remove space before assignment operator '=', '+=', etc. Overrides sp_assign.
+sp_before_assign                         = ignore   # ignore/add/remove/force
+
+# Add or remove space after assignment operator '=', '+=', etc. Overrides sp_assign.
+sp_after_assign                          = ignore   # ignore/add/remove/force
+
+# Add or remove space around assignment '=' in enum
+sp_enum_assign                           = force    # ignore/add/remove/force
+
+# Add or remove space before assignment '=' in enum. Overrides sp_enum_assign.
+sp_enum_before_assign                    = ignore   # ignore/add/remove/force
+
+# Add or remove space after assignment '=' in enum. Overrides sp_enum_assign.
+sp_enum_after_assign                     = ignore   # ignore/add/remove/force
+
+# Add or remove space around preprocessor '##' concatenation operator. Default=Add
+sp_pp_concat                             = remove   # ignore/add/remove/force
+
+# Add or remove space after preprocessor '#' stringify operator. Also affects the '#@' charizing operator.
+sp_pp_stringify                          = ignore   # ignore/add/remove/force
+
+# Add or remove space before preprocessor '#' stringify operator as in '#define x(y) L#y'.
+sp_before_pp_stringify                   = ignore   # ignore/add/remove/force
+
+# Add or remove space around boolean operators '&&' and '||'
+sp_bool                                  = force    # ignore/add/remove/force
+
+# Add or remove space around compare operator '<', '>', '==', etc
+sp_compare                               = force    # ignore/add/remove/force
+
+# Add or remove space inside '(' and ')'
+sp_inside_paren                          = remove   # ignore/add/remove/force
+
+# Add or remove space between nested parens
+sp_paren_paren                           = remove   # ignore/add/remove/force
+
+# Whether to balance spaces inside nested parens
+sp_balance_nested_parens                 = false    # false/true
+
+# Add or remove space between ')' and '{'
+sp_paren_brace                           = force    # ignore/add/remove/force
+
+# Add or remove space before pointer star '*'
+sp_before_ptr_star                       = force   # ignore/add/remove/force
+
+# Add or remove space before pointer star '*' that isn't followed by a variable name
+# If set to 'ignore', sp_before_ptr_star is used instead.
+sp_before_unnamed_ptr_star               = ignore   # ignore/add/remove/force
+
+# Add or remove space between pointer stars '*'
+sp_between_ptr_star                      = ignore   # ignore/add/remove/force
+
+# Add or remove space after pointer star '*', if followed by a word.
+sp_after_ptr_star                        = remove   # ignore/add/remove/force
+
+# Add or remove space after a pointer star '*', if followed by a func proto/def.
+sp_after_ptr_star_func                   = remove   # ignore/add/remove/force
+
+# Add or remove space after a pointer star '*', if followed by an open paren (function types).
+sp_ptr_star_paren                        = ignore   # ignore/add/remove/force
+
+# Add or remove space before a pointer star '*', if followed by a func proto/def.
+sp_before_ptr_star_func                  = ignore   # ignore/add/remove/force
+
+# Add or remove space before a reference sign '&'
+sp_before_byref                          = force    # ignore/add/remove/force
+
+# Add or remove space before a reference sign '&' that isn't followed by a variable name
+# If set to 'ignore', sp_before_byref is used instead.
+sp_before_unnamed_byref                  = ignore   # ignore/add/remove/force
+
+# Add or remove space after reference sign '&', if followed by a word.
+sp_after_byref                           = ignore   # ignore/add/remove/force
+
+# Add or remove space after a reference sign '&', if followed by a func proto/def.
+sp_after_byref_func                      = ignore   # ignore/add/remove/force
+
+# Add or remove space before a reference sign '&', if followed by a func proto/def.
+sp_before_byref_func                     = ignore   # ignore/add/remove/force
+
+# Add or remove space between type and word. Default=Force
+sp_after_type                            = force    # ignore/add/remove/force
+
+# Add or remove space before the paren in the D constructs 'template Foo(' and 'class Foo('.
+sp_before_template_paren                 = ignore   # ignore/add/remove/force
+
+# Add or remove space in 'template <' vs 'template<'.
+# If set to ignore, sp_before_angle is used.
+sp_template_angle                        = ignore   # ignore/add/remove/force
+
+# Add or remove space before '<>'
+sp_before_angle                          = ignore   # ignore/add/remove/force
+
+# Add or remove space inside '<' and '>'
+sp_inside_angle                          = ignore   # ignore/add/remove/force
+
+# Add or remove space after '<>'
+sp_after_angle                           = ignore   # ignore/add/remove/force
+
+# Add or remove space between '<>' and '(' as found in 'new List<byte>();'
+sp_angle_paren                           = ignore   # ignore/add/remove/force
+
+# Add or remove space between '<>' and a word as in 'List<byte> m;'
+sp_angle_word                            = ignore   # ignore/add/remove/force
+
+# Add or remove space between '>' and '>' in '>>' (template stuff C++/C# only). Default=Add
+sp_angle_shift                           = add      # ignore/add/remove/force
+
+# Permit removal of the space between '>>' in 'foo<bar<int> >' (C++11 only). Default=False
+# sp_angle_shift cannot remove the space without this option.
+sp_permit_cpp11_shift                    = false    # false/true
+
+# Add or remove space before '(' of 'if', 'for', 'switch', and 'while'
+sp_before_sparen                         = force    # ignore/add/remove/force
+
+# Add or remove space inside if-condition '(' and ')'
+sp_inside_sparen                         = remove   # ignore/add/remove/force
+
+# Add or remove space before if-condition ')'. Overrides sp_inside_sparen.
+sp_inside_sparen_close                   = ignore   # ignore/add/remove/force
+
+# Add or remove space before if-condition '('. Overrides sp_inside_sparen.
+sp_inside_sparen_open                    = ignore   # ignore/add/remove/force
+
+# Add or remove space after ')' of 'if', 'for', 'switch', and 'while'
+sp_after_sparen                          = force    # ignore/add/remove/force
+
+# Add or remove space between ')' and '{' of 'if', 'for', 'switch', and 'while'
+sp_sparen_brace                          = force    # ignore/add/remove/force
+
+# Add or remove space between 'invariant' and '(' in the D language.
+sp_invariant_paren                       = ignore   # ignore/add/remove/force
+
+# Add or remove space after the ')' in 'invariant (C) c' in the D language.
+sp_after_invariant_paren                 = ignore   # ignore/add/remove/force
+
+# Add or remove space before empty statement ';' on 'if', 'for' and 'while'
+sp_special_semi                          = force    # ignore/add/remove/force
+
+# Add or remove space before ';'. Default=Remove
+sp_before_semi                           = remove   # ignore/add/remove/force
+
+# Add or remove space before ';' in non-empty 'for' statements
+sp_before_semi_for                       = remove   # ignore/add/remove/force
+
+# Add or remove space before a semicolon of an empty part of a for statement.
+sp_before_semi_for_empty                 = force    # ignore/add/remove/force
+
+# Add or remove space after ';', except when followed by a comment. Default=Add
+sp_after_semi                            = force    # ignore/add/remove/force
+
+# Add or remove space after ';' in non-empty 'for' statements. Default=Force
+sp_after_semi_for                        = force    # ignore/add/remove/force
+
+# Add or remove space after the final semicolon of an empty part of a for statement: for ( ; ; <here> ).
+sp_after_semi_for_empty                  = remove   # ignore/add/remove/force
+
+# Add or remove space before '[' (except '[]')
+sp_before_square                         = remove   # ignore/add/remove/force
+
+# Add or remove space before '[]'
+sp_before_squares                        = remove   # ignore/add/remove/force
+
+# Add or remove space inside a non-empty '[' and ']'
+sp_inside_square                         = remove   # ignore/add/remove/force
+
+# Add or remove space after ','
+sp_after_comma                           = force    # ignore/add/remove/force
+
+# Add or remove space before ','
+sp_before_comma                          = remove   # ignore/add/remove/force
+
+# Add or remove space between an open paren and comma: '(,' vs '( ,'
+sp_paren_comma                           = force    # ignore/add/remove/force
+
+# Add or remove space before the variadic '...' when preceded by a non-punctuator
+sp_before_ellipsis                       = ignore   # ignore/add/remove/force
+
+# Add or remove space after class ':'
+sp_after_class_colon                     = ignore   # ignore/add/remove/force
+
+# Add or remove space before class ':'
+sp_before_class_colon                    = ignore   # ignore/add/remove/force
+
+# Add or remove space before case ':'. Default=Remove
+sp_before_case_colon                     = remove   # ignore/add/remove/force
+
+# Add or remove space between 'operator' and operator sign
+sp_after_operator                        = ignore   # ignore/add/remove/force
+
+# Add or remove space between the operator symbol and the open paren, as in 'operator ++('
+sp_after_operator_sym                    = ignore   # ignore/add/remove/force
+
+# Add or remove space after C/D cast, i.e. 'cast(int)a' vs 'cast(int) a' or '(int)a' vs '(int) a'
+sp_after_cast                            = remove   # ignore/add/remove/force
+
+# Add or remove spaces inside cast parens
+sp_inside_paren_cast                     = remove   # ignore/add/remove/force
+
+# Add or remove space between the type and open paren in a C++ cast, i.e. 'int(exp)' vs 'int (exp)'
+sp_cpp_cast_paren                        = remove   # ignore/add/remove/force
+
+# Add or remove space between 'sizeof' and '('
+sp_sizeof_paren                          = remove   # ignore/add/remove/force
+
+# Add or remove space after the tag keyword (Pawn)
+sp_after_tag                             = ignore   # ignore/add/remove/force
+
+# Add or remove space inside enum '{' and '}'
+sp_inside_braces_enum                    = force    # ignore/add/remove/force
+
+# Add or remove space inside struct/union '{' and '}'
+sp_inside_braces_struct                  = force    # ignore/add/remove/force
+
+# Add or remove space inside '{' and '}'
+sp_inside_braces                         = force    # ignore/add/remove/force
+
+# Add or remove space inside '{}'
+sp_inside_braces_empty                   = remove   # ignore/add/remove/force
+
+# Add or remove space between return type and function name
+# A minimum of 1 is forced except for pointer return types.
+sp_type_func                             = ignore   # ignore/add/remove/force
+
+# Add or remove space between function name and '(' on function declaration
+sp_func_proto_paren                      = remove   # ignore/add/remove/force
+
+# Add or remove space between function name and '(' on function definition
+sp_func_def_paren                        = remove   # ignore/add/remove/force
+
+# Add or remove space inside empty function '()'
+sp_inside_fparens                        = remove   # ignore/add/remove/force
+
+# Add or remove space inside function '(' and ')'
+sp_inside_fparen                         = remove   # ignore/add/remove/force
+
+# Add or remove space inside the first parens in the function type: 'void (*x)(...)'
+sp_inside_tparen                         = remove   # ignore/add/remove/force
+
+# Add or remove between the parens in the function type: 'void (*x)(...)'
+sp_after_tparen_close                    = remove   # ignore/add/remove/force
+
+# Add or remove space between ']' and '(' when part of a function call.
+sp_square_fparen                         = remove   # ignore/add/remove/force
+
+# Add or remove space between ')' and '{' of function
+sp_fparen_brace                          = force   # ignore/add/remove/force
+
+# Add or remove space between function name and '(' on function calls
+sp_func_call_paren                       = remove  # ignore/add/remove/force
+
+# Add or remove space between function name and '()' on function calls without parameters.
+# If set to 'ignore' (the default), sp_func_call_paren is used.
+sp_func_call_paren_empty                 = ignore   # ignore/add/remove/force
+
+# Add or remove space between the user function name and '(' on function calls
+# You need to set a keyword to be a user function, like this: 'set func_call_user _' in the config file.
+sp_func_call_user_paren                  = ignore   # ignore/add/remove/force
+
+# Add or remove space between a constructor/destructor and the open paren
+sp_func_class_paren                      = remove   # ignore/add/remove/force
+
+# Add or remove space between 'return' and '('
+sp_return_paren                          = force    # ignore/add/remove/force
+
+# Add or remove space between '__attribute__' and '('
+sp_attribute_paren                       = remove   # ignore/add/remove/force
+
+# Add or remove space between 'defined' and '(' in '#if defined (FOO)'
+sp_defined_paren                         = remove   # ignore/add/remove/force
+
+# Add or remove space between 'throw' and '(' in 'throw (something)'
+sp_throw_paren                           = remove   # ignore/add/remove/force
+
+# Add or remove space between 'throw' and anything other than '(' as in '@throw [...];'
+sp_after_throw                           = ignore   # ignore/add/remove/force
+
+# Add or remove space between 'catch' and '(' in 'catch (something) { }'
+# If set to ignore, sp_before_sparen is used.
+sp_catch_paren                           = remove   # ignore/add/remove/force
+
+# Add or remove space between 'version' and '(' in 'version (something) { }' (D language)
+# If set to ignore, sp_before_sparen is used.
+sp_version_paren                         = ignore   # ignore/add/remove/force
+
+# Add or remove space between 'scope' and '(' in 'scope (something) { }' (D language)
+# If set to ignore, sp_before_sparen is used.
+sp_scope_paren                           = ignore   # ignore/add/remove/force
+
+# Add or remove space between macro and value
+sp_macro                                 = force    # ignore/add/remove/force
+
+# Add or remove space between macro function ')' and value
+sp_macro_func                            = force    # ignore/add/remove/force
+
+# Add or remove space between 'else' and '{' if on the same line
+sp_else_brace                            = force    # ignore/add/remove/force
+
+# Add or remove space between '}' and 'else' if on the same line
+sp_brace_else                            = force    # ignore/add/remove/force
+
+# Add or remove space between '}' and the name of a typedef on the same line
+sp_brace_typedef                         = force    # ignore/add/remove/force
+
+# Add or remove space between 'catch' and '{' if on the same line
+sp_catch_brace                           = force    # ignore/add/remove/force
+
+# Add or remove space between '}' and 'catch' if on the same line
+sp_brace_catch                           = force    # ignore/add/remove/force
+
+# Add or remove space between 'finally' and '{' if on the same line
+sp_finally_brace                         = force    # ignore/add/remove/force
+
+# Add or remove space between '}' and 'finally' if on the same line
+sp_brace_finally                         = force    # ignore/add/remove/force
+
+# Add or remove space between 'try' and '{' if on the same line
+sp_try_brace                             = force    # ignore/add/remove/force
+
+# Add or remove space between get/set and '{' if on the same line
+sp_getset_brace                          = force    # ignore/add/remove/force
+
+# Add or remove space before the '::' operator
+sp_before_dc                             = remove   # ignore/add/remove/force
+
+# Add or remove space after the '::' operator
+sp_after_dc                              = remove   # ignore/add/remove/force
+
+# Add or remove around the D named array initializer ':' operator
+sp_d_array_colon                         = ignore   # ignore/add/remove/force
+
+# Add or remove space after the '!' (not) operator. Default=Remove
+sp_not                                   = remove   # ignore/add/remove/force
+
+# Add or remove space after the '~' (invert) operator. Default=Remove
+sp_inv                                   = remove   # ignore/add/remove/force
+
+# Add or remove space after the '&' (address-of) operator. Default=Remove
+# This does not affect the spacing after a '&' that is part of a type.
+sp_addr                                  = remove   # ignore/add/remove/force
+
+# Add or remove space around the '.' or '->' operators. Default=Remove
+sp_member                                = remove   # ignore/add/remove/force
+
+# Add or remove space after the '*' (dereference) operator. Default=Remove
+# This does not affect the spacing after a '*' that is part of a type.
+sp_deref                                 = remove   # ignore/add/remove/force
+
+# Add or remove space after '+' or '-', as in 'x = -5' or 'y = +7'. Default=Remove
+sp_sign                                  = remove   # ignore/add/remove/force
+
+# Add or remove space before or after '++' and '--', as in '(--x)' or 'y++;'. Default=Remove
+sp_incdec                                = remove   # ignore/add/remove/force
+
+# Add or remove space before a backslash-newline at the end of a line. Default=Add
+sp_before_nl_cont                        = add      # ignore/add/remove/force
+
+# Add or remove space after the scope '+' or '-', as in '-(void) foo;' or '+(int) bar;'
+sp_after_oc_scope                        = ignore   # ignore/add/remove/force
+
+# Add or remove space after the colon in message specs
+# '-(int) f:(int) x;' vs '-(int) f: (int) x;'
+sp_after_oc_colon                        = ignore   # ignore/add/remove/force
+
+# Add or remove space before the colon in message specs
+# '-(int) f: (int) x;' vs '-(int) f : (int) x;'
+sp_before_oc_colon                       = ignore   # ignore/add/remove/force
+
+# Add or remove space after the colon in immutable dictionary expression
+# 'NSDictionary *test = @{@"foo" :@"bar"};'
+sp_after_oc_dict_colon                   = ignore   # ignore/add/remove/force
+
+# Add or remove space before the colon in immutable dictionary expression
+# 'NSDictionary *test = @{@"foo" :@"bar"};'
+sp_before_oc_dict_colon                  = ignore   # ignore/add/remove/force
+
+# Add or remove space after the colon in message specs
+# '[object setValue:1];' vs '[object setValue: 1];'
+sp_after_send_oc_colon                   = ignore   # ignore/add/remove/force
+
+# Add or remove space before the colon in message specs
+# '[object setValue:1];' vs '[object setValue :1];'
+sp_before_send_oc_colon                  = ignore   # ignore/add/remove/force
+
+# Add or remove space after the (type) in message specs
+# '-(int)f: (int) x;' vs '-(int)f: (int)x;'
+sp_after_oc_type                         = ignore   # ignore/add/remove/force
+
+# Add or remove space after the first (type) in message specs
+# '-(int) f:(int)x;' vs '-(int)f:(int)x;'
+sp_after_oc_return_type                  = ignore   # ignore/add/remove/force
+
+# Add or remove space between '@selector' and '('
+# '@selector(msgName)' vs '@selector (msgName)'
+# Also applies to @protocol() constructs
+sp_after_oc_at_sel                       = ignore   # ignore/add/remove/force
+
+# Add or remove space between '@selector(x)' and the following word
+# '@selector(foo) a:' vs '@selector(foo)a:'
+sp_after_oc_at_sel_parens                = ignore   # ignore/add/remove/force
+
+# Add or remove space inside '@selector' parens
+# '@selector(foo)' vs '@selector( foo )'
+# Also applies to @protocol() constructs
+sp_inside_oc_at_sel_parens               = ignore   # ignore/add/remove/force
+
+# Add or remove space before a block pointer caret
+# '^int (int arg){...}' vs. ' ^int (int arg){...}'
+sp_before_oc_block_caret                 = ignore   # ignore/add/remove/force
+
+# Add or remove space after a block pointer caret
+# '^int (int arg){...}' vs. '^ int (int arg){...}'
+sp_after_oc_block_caret                  = ignore   # ignore/add/remove/force
+
+# Add or remove space between the receiver and selector in a message.
+# '[receiver selector ...]'
+sp_after_oc_msg_receiver                 = ignore   # ignore/add/remove/force
+
+# Add or remove space after @property.
+sp_after_oc_property                     = ignore   # ignore/add/remove/force
+
+# Add or remove space around the ':' in 'b ? t : f'
+sp_cond_colon                            = force    # ignore/add/remove/force
+
+# Add or remove space around the '?' in 'b ? t : f'
+sp_cond_question                         = force    # ignore/add/remove/force
+
+# Fix the spacing between 'case' and the label. Only 'ignore' and 'force' make sense here.
+sp_case_label                            = force    # ignore/add/remove/force
+
+# Control the space around the D '..' operator.
+sp_range                                 = ignore   # ignore/add/remove/force
+
+# Control the spacing after ':' in 'for (TYPE VAR : EXPR)' (Java)
+sp_after_for_colon                       = ignore   # ignore/add/remove/force
+
+# Control the spacing before ':' in 'for (TYPE VAR : EXPR)' (Java)
+sp_before_for_colon                      = ignore   # ignore/add/remove/force
+
+# Control the spacing in 'extern (C)' (D)
+sp_extern_paren                          = ignore   # ignore/add/remove/force
+
+# Control the space after the opening of a C++ comment '// A' vs '//A'
+sp_cmt_cpp_start                         = force    # ignore/add/remove/force
+
+# Controls the spaces between #else or #endif and a trailing comment
+sp_endif_cmt                             = force    # ignore/add/remove/force
+
+# Controls the spaces after 'new', 'delete', and 'delete[]'
+sp_after_new                             = force    # ignore/add/remove/force
+
+# Controls the spaces before a trailing or embedded comment
+sp_before_tr_emb_cmt                     = force    # ignore/add/remove/force
+
+# Number of spaces before a trailing or embedded comment
+sp_num_before_tr_emb_cmt                 = 1        # number
+
+# Control space between a Java annotation and the open paren.
+sp_annotation_paren                      = ignore   # ignore/add/remove/force
+
+#
+# Code alignment (not left column spaces/tabs)
+#
+
+# Whether to keep non-indenting tabs
+align_keep_tabs                          = false    # false/true
+
+# Whether to use tabs for aligning
+align_with_tabs                          = false    # false/true
+
+# Whether to bump out to the next tab when aligning
+align_on_tabstop                         = false    # false/true
+
+# Whether to left-align numbers
+align_number_left                        = false    # false/true
+
+# Align variable definitions in prototypes and functions
+align_func_params                        = false    # false/true
+
+# Align parameters in single-line functions that have the same name.
+# The function names must already be aligned with each other.
+align_same_func_call_params              = false    # false/true
+
+# The span for aligning variable definitions (0=don't align)
+align_var_def_span                       = 0        # number
+
+# How to align the star in variable definitions.
+#  0=Part of the type     'void *   foo;'
+#  1=Part of the variable 'void     *foo;'
+#  2=Dangling             'void    *foo;'
+align_var_def_star_style                 = 1        # number
+
+# How to align the '&' in variable definitions.
+#  0=Part of the type
+#  1=Part of the variable
+#  2=Dangling
+align_var_def_amp_style                  = 1        # number
+
+# The threshold for aligning variable definitions (0=no limit)
+align_var_def_thresh                     = 0        # number
+
+# The gap for aligning variable definitions
+align_var_def_gap                        = 0        # number
+
+# Whether to align the colon in struct bit fields
+align_var_def_colon                      = false    # false/true
+
+# Whether to align any attribute after the variable name
+align_var_def_attribute                  = false    # false/true
+
+# Whether to align inline struct/enum/union variable definitions
+align_var_def_inline                     = false    # false/true
+
+# The span for aligning on '=' in assignments (0=don't align)
+align_assign_span                        = 0        # number
+
+# The threshold for aligning on '=' in assignments (0=no limit)
+align_assign_thresh                      = 0        # number
+
+# The span for aligning on '=' in enums (0=don't align)
+align_enum_equ_span                      = 0        # number
+
+# The threshold for aligning on '=' in enums (0=no limit)
+align_enum_equ_thresh                    = 0        # number
+
+# The span for aligning struct/union (0=don't align)
+align_var_struct_span                    = 0        # number
+
+# The threshold for aligning struct/union member definitions (0=no limit)
+align_var_struct_thresh                  = 0        # number
+
+# The gap for aligning struct/union member definitions
+align_var_struct_gap                     = 0        # number
+
+# The span for aligning struct initializer values (0=don't align)
+align_struct_init_span                   = 0        # number
+
+# The minimum space between the type and the synonym of a typedef
+align_typedef_gap                        = 0        # number
+
+# The span for aligning single-line typedefs (0=don't align)
+align_typedef_span                       = 0        # number
+
+# How to align typedef'd functions with other typedefs
+# 0: Don't mix them at all
+# 1: align the open paren with the types
+# 2: align the function type name with the other type names
+align_typedef_func                       = 0        # number
+
+# Controls the positioning of the '*' in typedefs. Just try it.
+# 0: Align on typedef type, ignore '*'
+# 1: The '*' is part of type name: typedef int  *pint;
+# 2: The '*' is part of the type, but dangling: typedef int *pint;
+align_typedef_star_style                 = 0        # number
+
+# Controls the positioning of the '&' in typedefs. Just try it.
+# 0: Align on typedef type, ignore '&'
+# 1: The '&' is part of type name: typedef int  &pint;
+# 2: The '&' is part of the type, but dangling: typedef int &pint;
+align_typedef_amp_style                  = 0        # number
+
+# The span for aligning comments that end lines (0=don't align)
+align_right_cmt_span                     = 5        # number
+
+# If aligning comments, mix with comments after '}' and #endif with less than 3 spaces before the comment
+align_right_cmt_mix                      = false    # false/true
+
+# If a trailing comment is more than this number of columns away from the text it follows,
+# it will qualify for being aligned. This has to be > 0 to do anything.
+align_right_cmt_gap                      = 0        # number
+
+# Align trailing comment at or beyond column N; 'pulls in' comments as a bonus side effect (0=ignore)
+align_right_cmt_at_col                   = 0        # number
+
+# The span for aligning function prototypes (0=don't align)
+align_func_proto_span                    = 0        # number
+
+# Minimum gap between the return type and the function name.
+align_func_proto_gap                     = 0        # number
+
+# Align function protos on the 'operator' keyword instead of what follows
+align_on_operator                        = false    # false/true
+
+# Whether to mix aligning prototype and variable declarations.
+# If true, align_var_def_XXX options are used instead of align_func_proto_XXX options.
+align_mix_var_proto                      = false    # false/true
+
+# Align single-line functions with function prototypes, uses align_func_proto_span
+align_single_line_func                   = false    # false/true
+
+# Aligning the open brace of single-line functions.
+# Requires align_single_line_func=true, uses align_func_proto_span
+align_single_line_brace                  = false    # false/true
+
+# Gap for align_single_line_brace.
+align_single_line_brace_gap              = 0        # number
+
+# The span for aligning ObjC msg spec (0=don't align)
+align_oc_msg_spec_span                   = 0        # number
+
+# Whether to align macros wrapped with a backslash and a newline.
+# This will not work right if the macro contains a multi-line comment.
+align_nl_cont                            = false    # false/true
+
+# # Align macro functions and variables together
+align_pp_define_together                 = false    # false/true
+
+# The minimum space between label and value of a preprocessor define
+align_pp_define_gap                      = 0        # number
+
+# The span for aligning on '#define' bodies (0=don't align)
+align_pp_define_span                     = 5        # number
+
+# Align lines that start with '<<' with previous '<<'. Default=true
+align_left_shift                         = true     # false/true
+
+# Span for aligning parameters in an Obj-C message call on the ':' (0=don't align)
+align_oc_msg_colon_span                  = 0        # number
+
+# If true, always align with the first parameter, even if it is too short.
+align_oc_msg_colon_first                 = false    # false/true
+
+# Aligning parameters in an Obj-C '+' or '-' declaration on the ':'
+align_oc_decl_colon                      = false    # false/true
+
+#
+# Newline adding and removing options
+#
+
+# Whether to collapse empty blocks between '{' and '}'
+nl_collapse_empty_body                   = true     # false/true
+
+# Don't split one-line braced assignments - 'foo_t f = { 1, 2 };'
+nl_assign_leave_one_liners               = false    # false/true
+
+# Don't split one-line braced statements inside a class xx { } body
+nl_class_leave_one_liners                = false    # false/true
+
+# Don't split one-line enums: 'enum foo { BAR = 15 };'
+nl_enum_leave_one_liners                 = false    # false/true
+
+# Don't split one-line get or set functions
+nl_getset_leave_one_liners               = false    # false/true
+
+# Don't split one-line function definitions - 'int foo() { return 0; }'
+nl_func_leave_one_liners                 = false    # false/true
+
+# Don't split one-line if/else statements - 'if(a) b++;'
+nl_if_leave_one_liners                   = false    # false/true
+
+# Don't split one-line OC messages
+nl_oc_msg_leave_one_liner                = false    # false/true
+
+# Add or remove newlines at the start of the file
+nl_start_of_file                         = remove   # ignore/add/remove/force
+
+# The number of newlines at the start of the file (only used if nl_start_of_file is 'add' or 'force'
+nl_start_of_file_min                     = 0        # number
+
+# Add or remove newline at the end of the file
+nl_end_of_file                           = force    # ignore/add/remove/force
+
+# The number of newlines at the end of the file (only used if nl_end_of_file is 'add' or 'force')
+nl_end_of_file_min                       = 1        # number
+
+# Add or remove newline between '=' and '{'
+nl_assign_brace                          = remove   # ignore/add/remove/force
+
+# Add or remove newline between '=' and '[' (D only)
+nl_assign_square                         = ignore   # ignore/add/remove/force
+
+# Add or remove newline after '= [' (D only). Will also affect the newline before the ']'
+nl_after_square_assign                   = ignore   # ignore/add/remove/force
+
+# The number of blank lines after a block of variable definitions at the top of a function body
+# 0 = No change (default)
+nl_func_var_def_blk                      = 1        # number
+
+# The number of newlines before a block of typedefs
+# 0 = No change (default)
+nl_typedef_blk_start                     = 0        # number
+
+# The number of newlines after a block of typedefs
+# 0 = No change (default)
+nl_typedef_blk_end                       = 0        # number
+
+# The maximum consecutive newlines within a block of typedefs
+# 0 = No change (default)
+nl_typedef_blk_in                        = 0        # number
+
+# The number of newlines before a block of variable definitions not at the top of a function body
+# 0 = No change (default)
+nl_var_def_blk_start                     = 0        # number
+
+# The number of newlines after a block of variable definitions not at the top of a function body
+# 0 = No change (default)
+nl_var_def_blk_end                       = 0        # number
+
+# The maximum consecutive newlines within a block of variable definitions
+# 0 = No change (default)
+nl_var_def_blk_in                        = 0        # number
+
+# Add or remove newline between a function call's ')' and '{', as in:
+# list_for_each(item, &list) { }
+nl_fcall_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'enum' and '{'
+nl_enum_brace                            = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'struct and '{'
+nl_struct_brace                          = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'union' and '{'
+nl_union_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'if' and '{'
+nl_if_brace                              = remove   # ignore/add/remove/force
+
+# Add or remove newline between '}' and 'else'
+nl_brace_else                            = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'else if' and '{'
+# If set to ignore, nl_if_brace is used instead
+nl_elseif_brace                          = ignore   # ignore/add/remove/force
+
+# Add or remove newline between 'else' and '{'
+nl_else_brace                            = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'else' and 'if'
+nl_else_if                               = remove   # ignore/add/remove/force
+
+# Add or remove newline between '}' and 'finally'
+nl_brace_finally                         = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'finally' and '{'
+nl_finally_brace                         = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'try' and '{'
+nl_try_brace                             = remove   # ignore/add/remove/force
+
+# Add or remove newline between get/set and '{'
+nl_getset_brace                          = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'for' and '{'
+nl_for_brace                             = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'catch' and '{'
+nl_catch_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between '}' and 'catch'
+nl_brace_catch                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'while' and '{'
+nl_while_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'scope (x)' and '{' (D)
+nl_scope_brace                           = ignore   # ignore/add/remove/force
+
+# Add or remove newline between 'unittest' and '{' (D)
+nl_unittest_brace                        = ignore   # ignore/add/remove/force
+
+# Add or remove newline between 'version (x)' and '{' (D)
+nl_version_brace                         = ignore   # ignore/add/remove/force
+
+# Add or remove newline between 'using' and '{'
+nl_using_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between two open or close braces.
+# Due to general newline/brace handling, REMOVE may not work.
+nl_brace_brace                           = force   # ignore/add/remove/force
+
+# Add or remove newline between 'do' and '{'
+nl_do_brace                              = remove   # ignore/add/remove/force
+
+# Add or remove newline between '}' and 'while' of 'do' statement
+nl_brace_while                           = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'switch' and '{'
+nl_switch_brace                          = remove   # ignore/add/remove/force
+
+# Add a newline between ')' and '{' if the ')' is on a different line than the if/for/etc.
+# Overrides nl_for_brace, nl_if_brace, nl_switch_brace, nl_while_switch, and nl_catch_brace.
+nl_multi_line_cond                       = false    # false/true
+
+# Force a newline in a define after the macro name for multi-line defines.
+nl_multi_line_define                     = true     # false/true
+
+# Whether to put a newline before 'case' statement
+nl_before_case                           = false    # false/true
+
+# Add or remove newline between ')' and 'throw'
+nl_before_throw                          = ignore   # ignore/add/remove/force
+
+# Whether to put a newline after 'case' statement
+nl_after_case                            = false    # false/true
+
+# Add or remove a newline between a case ':' and '{'. Overrides nl_after_case.
+nl_case_colon_brace                      = force    # ignore/add/remove/force
+
+# Newline between namespace and {
+nl_namespace_brace                       = remove   # ignore/add/remove/force
+
+# Add or remove newline between 'template<>' and whatever follows.
+nl_template_class                        = ignore   # ignore/add/remove/force
+
+# Add or remove newline between 'class' and '{'
+nl_class_brace                           = remove   # ignore/add/remove/force
+
+# Add or remove newline after each ',' in the constructor member initialization
+nl_class_init_args                       = ignore   # ignore/add/remove/force
+
+# Add or remove newline between return type and function name in a function definition
+nl_func_type_name                        = remove   # ignore/add/remove/force
+
+# Add or remove newline between return type and function name inside a class {}
+# Uses nl_func_type_name or nl_func_proto_type_name if set to ignore.
+nl_func_type_name_class                  = ignore   # ignore/add/remove/force
+
+# Add or remove newline between function scope and name in a definition
+# Controls the newline after '::' in 'void A::f() { }'
+nl_func_scope_name                       = ignore   # ignore/add/remove/force
+
+# Add or remove newline between return type and function name in a prototype
+nl_func_proto_type_name                  = remove   # ignore/add/remove/force
+
+# Add or remove newline between a function name and the opening '('
+nl_func_paren                            = remove   # ignore/add/remove/force
+
+# Add or remove newline between a function name and the opening '(' in the definition
+nl_func_def_paren                        = remove   # ignore/add/remove/force
+
+# Add or remove newline after '(' in a function declaration
+nl_func_decl_start                       = ignore   # ignore/add/remove/force
+
+# Add or remove newline after '(' in a function definition
+nl_func_def_start                        = ignore   # ignore/add/remove/force
+
+# Overrides nl_func_decl_start when there is only one parameter.
+nl_func_decl_start_single                = ignore   # ignore/add/remove/force
+
+# Overrides nl_func_def_start when there is only one parameter.
+nl_func_def_start_single                 = ignore   # ignore/add/remove/force
+
+# Add or remove newline after each ',' in a function declaration
+nl_func_decl_args                        = ignore   # ignore/add/remove/force
+
+# Add or remove newline after each ',' in a function definition
+nl_func_def_args                         = ignore   # ignore/add/remove/force
+
+# Add or remove newline before the ')' in a function declaration
+nl_func_decl_end                         = remove   # ignore/add/remove/force
+
+# Add or remove newline before the ')' in a function definition
+nl_func_def_end                          = remove   # ignore/add/remove/force
+
+# Overrides nl_func_decl_end when there is only one parameter.
+nl_func_decl_end_single                  = ignore   # ignore/add/remove/force
+
+# Overrides nl_func_def_end when there is only one parameter.
+nl_func_def_end_single                   = ignore   # ignore/add/remove/force
+
+# Add or remove newline between '()' in a function declaration.
+nl_func_decl_empty                       = remove   # ignore/add/remove/force
+
+# Add or remove newline between '()' in a function definition.
+nl_func_def_empty                        = remove   # ignore/add/remove/force
+
+# Whether to put each OC message parameter on a separate line
+# See nl_oc_msg_leave_one_liner
+nl_oc_msg_args                           = false    # false/true
+
+# Add or remove newline between function signature and '{'
+nl_fdef_brace                            = force    # ignore/add/remove/force
+
+# Add or remove a newline between the return keyword and return expression.
+nl_return_expr                           = remove   # ignore/add/remove/force
+
+# Whether to put a newline after semicolons, except in 'for' statements
+nl_after_semicolon                       = false    # false/true
+
+# Whether to put a newline after brace open.
+# This also adds a newline before the matching brace close.
+nl_after_brace_open                      = false    # false/true
+
+# If nl_after_brace_open and nl_after_brace_open_cmt are true, a newline is
+# placed between the open brace and a trailing single-line comment.
+nl_after_brace_open_cmt                  = false    # false/true
+
+# Whether to put a newline after a virtual brace open with a non-empty body.
+# These occur in un-braced if/while/do/for statement bodies.
+nl_after_vbrace_open                     = true     # false/true
+
+# Whether to put a newline after a virtual brace open with an empty body.
+# These occur in un-braced if/while/do/for statement bodies.
+nl_after_vbrace_open_empty               = false    # false/true
+
+# Whether to put a newline after a brace close.
+# Does not apply if followed by a necessary ';'.
+nl_after_brace_close                     = true    # false/true
+
+# Whether to put a newline after a virtual brace close.
+# Would add a newline before return in: 'if (foo) a++; return;'
+nl_after_vbrace_close                    = true    # false/true
+
+# Control the newline between the close brace and 'b' in: 'struct { int a; } b;'
+# Affects enums, unions, and structures. If set to ignore, uses nl_after_brace_close
+nl_brace_struct_var                      = remove   # ignore/add/remove/force
+
+# Whether to alter newlines in '#define' macros
+nl_define_macro                          = false    # false/true
+
+# Whether to not put blanks after '#ifxx', '#elxx', or before '#endif'
+nl_squeeze_ifdef                         = false    # false/true
+
+# Add or remove blank line before 'if'
+nl_before_if                             = ignore   # ignore/add/remove/force
+
+# Add or remove blank line after 'if' statement
+nl_after_if                              = ignore   # ignore/add/remove/force
+
+# Add or remove blank line before 'for'
+nl_before_for                            = ignore   # ignore/add/remove/force
+
+# Add or remove blank line after 'for' statement
+nl_after_for                             = ignore   # ignore/add/remove/force
+
+# Add or remove blank line before 'while'
+nl_before_while                          = ignore   # ignore/add/remove/force
+
+# Add or remove blank line after 'while' statement
+nl_after_while                           = ignore   # ignore/add/remove/force
+
+# Add or remove blank line before 'switch'
+nl_before_switch                         = ignore   # ignore/add/remove/force
+
+# Add or remove blank line after 'switch' statement
+nl_after_switch                          = ignore   # ignore/add/remove/force
+
+# Add or remove blank line before 'do'
+nl_before_do                             = ignore   # ignore/add/remove/force
+
+# Add or remove blank line after 'do/while' statement
+nl_after_do                              = ignore   # ignore/add/remove/force
+
+# Whether to double-space commented-entries in struct/enum
+nl_ds_struct_enum_cmt                    = false    # false/true
+
+# Whether to double-space before the close brace of a struct/union/enum
+# (lower priority than 'eat_blanks_before_close_brace')
+nl_ds_struct_enum_close_brace            = false    # false/true
+
+# Add or remove a newline around a class colon.
+# Related to pos_class_colon, nl_class_init_args, and pos_comma.
+nl_class_colon                           = ignore   # ignore/add/remove/force
+
+# Change simple unbraced if statements into a one-liner
+# 'if(b)\n i++;' => 'if(b) i++;'
+nl_create_if_one_liner                   = false    # false/true
+
+# Change simple unbraced for statements into a one-liner
+# 'for (i=0;i<5;i++)\n foo(i);' => 'for (i=0;i<5;i++) foo(i);'
+nl_create_for_one_liner                  = false    # false/true
+
+# Change simple unbraced while statements into a one-liner
+# 'while (i<5)\n foo(i++);' => 'while (i<5) foo(i++);'
+nl_create_while_one_liner                = false    # false/true
+
+#
+# Positioning options
+#
+
+# The position of arithmetic operators in wrapped expressions
+pos_arith                                = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of assignment in wrapped expressions.
+# Do not affect '=' followed by '{'
+pos_assign                               = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of boolean operators in wrapped expressions
+pos_bool                                 = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of comparison operators in wrapped expressions
+pos_compare                              = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of conditional (b ? t : f) operators in wrapped expressions
+pos_conditional                          = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of the comma in wrapped expressions
+pos_comma                                = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of the comma in the constructor initialization list
+pos_class_comma                          = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+# The position of colons between constructor and member initialization
+pos_class_colon                          = ignore   # ignore/join/lead/lead_break/lead_force/trail/trail_break/trail_force
+
+#
+# Line Splitting options
+#
+
+# Try to limit code width to N number of columns
+code_width                               = 0        # number
+
+# Whether to fully split long 'for' statements at semi-colons
+ls_for_split_full                        = false    # false/true
+
+# Whether to fully split long function protos/calls at commas
+ls_func_split_full                       = false    # false/true
+
+# Whether to split lines as close to code_width as possible and ignore some groupings
+ls_code_width                            = false    # false/true
+
+#
+# Blank line options
+#
+
+# The maximum consecutive newlines
+nl_max                                   = 3        # number
+
+# The number of newlines after a function prototype, if followed by another function prototype
+nl_after_func_proto                      = 0        # number
+
+# The number of newlines after a function prototype, if not followed by another function prototype
+nl_after_func_proto_group                = 0        # number
+
+# The number of newlines after '}' of a multi-line function body
+nl_after_func_body                       = 0        # number
+
+# The number of newlines after '}' of a multi-line function body in a class declaration
+nl_after_func_body_class                 = 0        # number
+
+# The number of newlines after '}' of a single line function body
+nl_after_func_body_one_liner             = 0        # number
+
+# The minimum number of newlines before a multi-line comment.
+# Doesn't apply if after a brace open or another multi-line comment.
+nl_before_block_comment                  = 0        # number
+
+# The minimum number of newlines before a single-line C comment.
+# Doesn't apply if after a brace open or other single-line C comments.
+nl_before_c_comment                      = 0        # number
+
+# The minimum number of newlines before a CPP comment.
+# Doesn't apply if after a brace open or other CPP comments.
+nl_before_cpp_comment                    = 0        # number
+
+# Whether to force a newline after a multi-line comment.
+nl_after_multiline_comment               = false    # false/true
+
+# The number of newlines after '}' or ';' of a struct/enum/union definition
+nl_after_struct                          = 0        # number
+
+# The number of newlines after '}' or ';' of a class definition
+nl_after_class                           = 0        # number
+
+# The number of newlines before a 'private:', 'public:', 'protected:', 'signals:', or 'slots:' label.
+# Will not change the newline count if after a brace open.
+# 0 = No change.
+nl_before_access_spec                    = 0        # number
+
+# The number of newlines after a 'private:', 'public:', 'protected:', 'signals:', or 'slots:' label.
+# 0 = No change.
+nl_after_access_spec                     = 0        # number
+
+# The number of newlines between a function def and the function comment.
+# 0 = No change.
+nl_comment_func_def                      = 0        # number
+
+# The number of newlines after a try-catch-finally block that isn't followed by a brace close.
+# 0 = No change.
+nl_after_try_catch_finally               = 0        # number
+
+# The number of newlines before and after a property, indexer or event decl.
+# 0 = No change.
+nl_around_cs_property                    = 0        # number
+
+# The number of newlines between the get/set/add/remove handlers in C#.
+# 0 = No change.
+nl_between_get_set                       = 0        # number
+
+# Add or remove newline between C# property and the '{'
+nl_property_brace                        = ignore   # ignore/add/remove/force
+
+# Whether to remove blank lines after '{'
+eat_blanks_after_open_brace              = true     # false/true
+
+# Whether to remove blank lines before '}'
+eat_blanks_before_close_brace            = true    # false/true
+
+# How aggressively to remove extra newlines not in preproc.
+# 0: No change
+# 1: Remove most newlines not handled by other config
+# 2: Remove all newlines and reformat completely by config
+nl_remove_extra_newlines                 = 0        # number
+
+# Whether to put a blank line before 'return' statements, unless after an open brace.
+nl_before_return                         = false    # false/true
+
+# Whether to put a blank line after 'return' statements, unless followed by a close brace.
+nl_after_return                          = true     # false/true
+
+# Whether to put a newline after a Java annotation statement.
+# Only affects annotations that are after a newline.
+nl_after_annotation                      = ignore   # ignore/add/remove/force
+
+# Controls the newline between two annotations.
+nl_between_annotation                    = ignore   # ignore/add/remove/force
+
+#
+# Code modifying options (non-whitespace)
+#
+
+# Add or remove braces on single-line 'do' statement
+mod_full_brace_do                        = force    # ignore/add/remove/force
+
+# Add or remove braces on single-line 'for' statement
+mod_full_brace_for                       = force    # ignore/add/remove/force
+
+# Add or remove braces on single-line function definitions. (Pawn)
+mod_full_brace_function                  = ignore   # ignore/add/remove/force
+
+# Add or remove braces on single-line 'if' statement. Will not remove the braces if they contain an 'else'.
+mod_full_brace_if                        = force    # ignore/add/remove/force
+
+# Make all if/elseif/else statements in a chain be braced or not. Overrides mod_full_brace_if.
+# If any must be braced, they are all braced.  If all can be unbraced, then the braces are removed.
+mod_full_brace_if_chain                  = false    # false/true
+
+# Don't remove braces around statements that span N newlines
+mod_full_brace_nl                        = 0        # number
+
+# Add or remove braces on single-line 'while' statement
+mod_full_brace_while                     = force    # ignore/add/remove/force
+
+# Add or remove braces on single-line 'using ()' statement
+mod_full_brace_using                     = ignore   # ignore/add/remove/force
+
+# Add or remove unnecessary paren on 'return' statement
+mod_paren_on_return                      = remove   # ignore/add/remove/force
+
+# Whether to change optional semicolons to real semicolons
+mod_pawn_semicolon                       = false    # false/true
+
+# Add parens on 'while' and 'if' statement around bools
+mod_full_paren_if_bool                   = false    # false/true
+
+# Whether to remove superfluous semicolons
+mod_remove_extra_semicolon               = true     # false/true
+
+# If a function body exceeds the specified number of newlines and doesn't have a comment after
+# the close brace, a comment will be added.
+mod_add_long_function_closebrace_comment = 0        # number
+
+# If a switch body exceeds the specified number of newlines and doesn't have a comment after
+# the close brace, a comment will be added.
+mod_add_long_switch_closebrace_comment   = 0        # number
+
+# If an #ifdef body exceeds the specified number of newlines and doesn't have a comment after
+# the #endif, a comment will be added.
+mod_add_long_ifdef_endif_comment         = 20       # number
+
+# If an #ifdef or #else body exceeds the specified number of newlines and doesn't have a comment after
+# the #else, a comment will be added.
+mod_add_long_ifdef_else_comment          = 20       # number
+
+# If TRUE, will sort consecutive single-line 'import' statements [Java, D]
+mod_sort_import                          = false    # false/true
+
+# If TRUE, will sort consecutive single-line 'using' statements [C#]
+mod_sort_using                           = false    # false/true
+
+# If TRUE, will sort consecutive single-line '#include' statements [C/C++] and '#import' statements [Obj-C]
+# This is generally a bad idea, as it may break your code.
+mod_sort_include                         = false    # false/true
+
+# If TRUE, it will move a 'break' that appears after a fully braced 'case' before the close brace.
+mod_move_case_break                      = false    # false/true
+
+# Will add or remove the braces around a fully braced case statement.
+# Will only remove the braces if there are no variable declarations in the block.
+mod_case_brace                           = ignore   # ignore/add/remove/force
+
+# If TRUE, it will remove a void 'return;' that appears as the last statement in a function.
+mod_remove_empty_return                  = true     # false/true
+
+#
+# Comment modifications
+#
+
+# Try to wrap comments at cmt_width columns
+cmt_width                                = 0        # number
+
+# Set the comment reflow mode (default: 0)
+# 0: no reflowing (apart from the line wrapping due to cmt_width)
+# 1: no touching at all
+# 2: full reflow
+cmt_reflow_mode                          = 0        # number
+
+# If false, disable all multi-line comment changes, including cmt_width. keyword substitution, and leading chars.
+# Default is true.
+cmt_indent_multi                         = true     # false/true
+
+# Whether to group c-comments that look like they are in a block
+cmt_c_group                              = false    # false/true
+
+# Whether to put an empty '/*' on the first line of the combined c-comment
+cmt_c_nl_start                           = false    # false/true
+
+# Whether to put a newline before the closing '*/' of the combined c-comment
+cmt_c_nl_end                             = false    # false/true
+
+# Whether to group cpp-comments that look like they are in a block
+cmt_cpp_group                            = false    # false/true
+
+# Whether to put an empty '/*' on the first line of the combined cpp-comment
+cmt_cpp_nl_start                         = false    # false/true
+
+# Whether to put a newline before the closing '*/' of the combined cpp-comment
+cmt_cpp_nl_end                           = false    # false/true
+
+# Whether to change cpp-comments into c-comments
+cmt_cpp_to_c                             = false    # false/true
+
+# Whether to put a star on subsequent comment lines
+cmt_star_cont                            = false    # false/true
+
+# The number of spaces to insert at the start of subsequent comment lines
+cmt_sp_before_star_cont                  = 0        # number
+
+# The number of spaces to insert after the star on subsequent comment lines
+cmt_sp_after_star_cont                   = 0        # number
+
+# For multi-line comments with a '*' lead, remove leading spaces if the first and last lines of
+# the comment are the same length. Default=True
+cmt_multi_check_last                     = true     # false/true
+
+# The filename that contains text to insert at the head of a file if the file doesn't start with a C/C++ comment.
+# Will substitute $(filename) with the current file's name.
+cmt_insert_file_header                   = ""         # string
+
+# The filename that contains text to insert at the end of a file if the file doesn't end with a C/C++ comment.
+# Will substitute $(filename) with the current file's name.
+cmt_insert_file_footer                   = ""         # string
+
+# The filename that contains text to insert before a function implementation if the function isn't preceded with a C/C++ comment.
+# Will substitute $(function) with the function name and $(javaparam) with the javadoc @param and @return stuff.
+# Will also substitute $(fclass) with the class name: void CFoo::Bar() { ... }
+cmt_insert_func_header                   = ""         # string
+
+# The filename that contains text to insert before a class if the class isn't preceded with a C/C++ comment.
+# Will substitute $(class) with the class name.
+cmt_insert_class_header                  = ""         # string
+
+# The filename that contains text to insert before a Obj-C message specification if the method isn't preceeded with a C/C++ comment.
+# Will substitute $(message) with the function name and $(javaparam) with the javadoc @param and @return stuff.
+cmt_insert_oc_msg_header                 = ""         # string
+
+# If a preprocessor is encountered when stepping backwards from a function name, then
+# this option decides whether the comment should be inserted.
+# Affects cmt_insert_oc_msg_header, cmt_insert_func_header and cmt_insert_class_header.
+cmt_insert_before_preproc                = false    # false/true
+
+#
+# Preprocessor options
+#
+
+# Control indent of preprocessors inside #if blocks at brace level 0
+pp_indent                                = ignore   # ignore/add/remove/force
+
+# Whether to indent #if/#else/#endif at the brace level (true) or from column 1 (false)
+pp_indent_at_level                       = false    # false/true
+
+# If pp_indent_at_level=false, specifies the number of columns to indent per level. Default=1.
+pp_indent_count                          = 1        # number
+
+# Add or remove space after # based on pp_level of #if blocks
+pp_space                                 = ignore   # ignore/add/remove/force
+
+# Sets the number of spaces added with pp_space
+pp_space_count                           = 0        # number
+
+# The indent for #region and #endregion in C# and '#pragma region' in C/C++
+pp_indent_region                         = 0        # number
+
+# Whether to indent the code between #region and #endregion
+pp_region_indent_code                    = false    # false/true
+
+# If pp_indent_at_level=true, sets the indent for #if, #else, and #endif when not at file-level
+pp_indent_if                             = 0        # number
+
+# Control whether to indent the code between #if, #else and #endif when not at file-level
+pp_if_indent_code                        = false    # false/true
+
+# Whether to indent '#define' at the brace level (true) or from column 1 (false)
+pp_define_at_level                       = false    # false/true
+
+# You can force a token to be a type with the 'type' option.
+# Example:
+# type myfoo1 myfoo2
+#
+# You can create custom macro-based indentation using macro-open,
+# macro-else and macro-close.
+# Example:
+# macro-open  BEGIN_TEMPLATE_MESSAGE_MAP
+# macro-open  BEGIN_MESSAGE_MAP
+# macro-close END_MESSAGE_MAP
+#
+# You can assign any keyword to any type with the set option.
+# set func_call_user _ N_
+#
+# The full syntax description of all custom definition config entries
+# is shown below:
+#
+# define custom tokens as:
+# - embed whitespace in token using '' escape character, or
+#   put token in quotes
+# - these: ' " and ` are recognized as quote delimiters
+#
+# type token1 token2 token3 ...
+#             ^ optionally specify multiple tokens on a single line
+# define def_token output_token
+#                  ^ output_token is optional, then NULL is assumed
+# macro-open token
+# macro-close token
+# macro-else token
+# set id token1 token2 ...
+#               ^ optionally specify multiple tokens on a single line
+#     ^ id is one of the names in token_enum.h sans the CT_ prefix,
+#       e.g. PP_PRAGMA
+#
+# all tokens are separated by any mix of ',' commas, '=' equal signs
+# and whitespace (space, tab)
+#
diff --git a/make/tools.mk b/make/tools.mk
index e15d2a69f..d71baafaa 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -11,6 +11,7 @@
 #    qt_sdk_install
 #    mingw_install (Windows only)
 #    python_install (Windows only)
+#    uncrustify_install
 #
 # TODO:
 #    openocd_install
@@ -59,14 +60,17 @@ ifeq ($(UNAME), Linux)
         ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
         QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
     endif
+    UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
 else ifeq ($(UNAME), Darwin)
-    ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
-    QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
+    ARM_SDK_URL    := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
+    QT_SDK_URL     := "Please install native Qt 4.8.x SDK using package manager"
+    UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
 else ifeq ($(UNAME), Windows)
-    ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
-    QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
-    MINGW_URL   := http://wiki.openpilot.org/download/attachments/18612236/mingw-4.4.0.tar.bz2
-    PYTHON_URL  := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
+    ARM_SDK_URL    := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
+    QT_SDK_URL     := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
+    MINGW_URL      := http://wiki.openpilot.org/download/attachments/18612236/mingw-4.4.0.tar.bz2
+    PYTHON_URL     := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
+    UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60-windows.tar.bz2
 endif
 
 # Changing PYTHON_DIR, also update it in ground\openpilotgcs\src\app\gcsversioninfo.pri
@@ -74,6 +78,7 @@ ARM_SDK_DIR     := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
 QT_SDK_DIR      := $(TOOLS_DIR)/qt-4.8.4
 MINGW_DIR       := $(TOOLS_DIR)/mingw-4.4.0
 PYTHON_DIR      := $(TOOLS_DIR)/python-2.7.4
+UNCRUSTIFY_DIR  := $(TOOLS_DIR)/uncrustify-0.60
 
 ##############################
 #
@@ -81,7 +86,7 @@ PYTHON_DIR      := $(TOOLS_DIR)/python-2.7.4
 #
 ##############################
 
-ALL_SDK_TARGETS := arm_sdk qt_sdk
+ALL_SDK_TARGETS := arm_sdk qt_sdk uncrustify
 ifeq ($(UNAME), Windows)
     ALL_SDK_TARGETS += mingw python
 endif
@@ -110,7 +115,6 @@ export JAVAC	:= javac
 export JAR	:= jar
 export GIT	:= git
 export CURL	:= curl
-export INSTALL	:= install
 export MD5SUM	:= md5sum
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
@@ -144,8 +148,9 @@ MSG_VERIFYING        = $(QUOTE) VERIFY     $(QUOTE)
 MSG_DOWNLOADING      = $(QUOTE) DOWNLOAD   $(QUOTE)
 MSG_CHECKSUMMING     = $(QUOTE) MD5        $(QUOTE)
 MSG_EXTRACTING       = $(QUOTE) EXTRACT    $(QUOTE)
-MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
 MSG_CONFIGURING      = $(QUOTE) CONFIGURE  $(QUOTE)
+MSG_BUILDING         = $(QUOTE) BUILD      $(QUOTE)
+MSG_INSTALLING       = $(QUOTE) INSTALL    $(QUOTE)
 MSG_CLEANING         = $(QUOTE) CLEAN      $(QUOTE)
 MSG_DISTCLEANING     = $(QUOTE) DISTCLEAN  $(QUOTE)
 MSG_NOTICE           = $(QUOTE) NOTE       $(QUOTE)
@@ -178,11 +183,11 @@ endif
 #
 # Common tool install template
 #  $(1) = tool name
-#  $(2) = tool install directory
+#  $(2) = tool extract/build directory
 #  $(3) = tool distribution URL
 #  $(4) = tool distribution file
-#  $(5) = optional pre-fetch template
-#  $(6) = optional post-extract template
+#  $(5) = optional extra build recipes template
+#  $(6) = optional extra clean recipes template
 #
 ##############################
 
@@ -191,8 +196,6 @@ define TOOL_INSTALL_TEMPLATE
 .PHONY: $(addprefix $(1)_, install clean distclean)
 
 $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
-	$(5)
-
 	@$(ECHO) $(MSG_VERIFYING) $$(call toprel, $(DL_DIR)/$(4))
 	$(V1) ( \
 		cd "$(DL_DIR)" && \
@@ -206,16 +209,19 @@ $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
 	)
 
 	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
-	$(V1) $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(TOOLS_DIR)) -xjf $$(call toprel, $(DL_DIR)/$(4))
+	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))
+	$(V1) $(TAR) $(TAR_OPTIONS) -C $$(call toprel, $(dir $(2))) -xf $$(call toprel, $(DL_DIR)/$(4))
 
-	$(6)
+	$(5)
 
 $(1)_clean:
 	@$(ECHO) $(MSG_CLEANING) $$(call toprel, $(2))
 	$(V1) [ ! -d "$(2)" ] || $(RM) -rf "$(2)"
 
+	$(6)
+
 $(1)_distclean:
-	@$(ECHO) $(MSG_DISTCLEANING) $$(call toprel, $$@)
+	@$(ECHO) $(MSG_DISTCLEANING) $$(call toprel, $(DL_DIR)/$(4))
 	$(V1) [ ! -f "$(DL_DIR)/$(4)" ]     || $(RM) "$(DL_DIR)/$(4)"
 	$(V1) [ ! -f "$(DL_DIR)/$(4).md5" ] || $(RM) "$(DL_DIR)/$(4).md5"
 
@@ -239,7 +245,7 @@ endif
 
 .PHONY: arm_sdk_version
 arm_sdk_version:
-	$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
+	-$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
 
 # Template to check ARM toolchain version before building targets
 define ARM_GCC_VERSION_CHECK_TEMPLATE
@@ -260,15 +266,15 @@ endef
 #
 ##############################
 
+ifeq ($(UNAME), Windows)
+
 define QT_SDK_CONFIGURE_TEMPLATE
 	@$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(QT_SDK_DIR))
 	$(V1) $(ECHO) $(QUOTE)[Paths]$(QUOTE) > $(QT_SDK_DIR)/bin/qt.conf
 	$(V1) $(ECHO) $(QUOTE)Prefix = $(QT_SDK_DIR)$(QUOTE) >> $(QT_SDK_DIR)/bin/qt.conf
 endef
 
-ifeq ($(UNAME), Windows)
-
-    $(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),,$(QT_SDK_CONFIGURE_TEMPLATE)))
+    $(eval $(call TOOL_INSTALL_TEMPLATE,qt_sdk,$(QT_SDK_DIR),$(QT_SDK_URL),$(notdir $(QT_SDK_URL)),$(QT_SDK_CONFIGURE_TEMPLATE)))
 
 else
 
@@ -303,7 +309,7 @@ endif
 
 .PHONY: qt_sdk_version
 qt_sdk_version:
-	$(V1) $(QMAKE) --version | tail -1
+	-$(V1) $(QMAKE) --version | tail -1
 
 ##############################
 #
@@ -326,7 +332,7 @@ endif
 
 .PHONY: mingw_version
 mingw_version:
-	$(V1) gcc --version | head -n1
+	-$(V1) gcc --version | head -n1
 
 .PHONY: gcc_version
 gcc_version: mingw_version
@@ -337,7 +343,7 @@ all_sdk_version: gcc_version
 
 .PHONY: gcc_version
 gcc_version:
-	$(V1) gcc --version | head -n1
+	-$(V1) gcc --version | head -n1
 
 endif
 
@@ -368,9 +374,55 @@ endif
 
 .PHONY: python_version
 python_version:
-	$(V1) $(PYTHON) --version
+	-$(V1) $(PYTHON) --version
 
+##############################
+#
+# Uncrustify
+#
+##############################
 
+ifeq ($(UNAME), Windows)
+
+$(eval $(call TOOL_INSTALL_TEMPLATE,uncrustify,$(UNCRUSTIFY_DIR),$(UNCRUSTIFY_URL),$(notdir $(UNCRUSTIFY_URL))))
+
+else # Linux or Mac
+
+UNCRUSTIFY_BUILD_DIR := $(BUILD_DIR)/$(notdir $(UNCRUSTIFY_DIR))
+
+define UNCRUSTIFY_BUILD_TEMPLATE
+	$(V1) ( \
+		$(ECHO) $(MSG_CONFIGURING) $(call toprel, $(UNCRUSTIFY_BUILD_DIR)) && \
+		cd $(UNCRUSTIFY_BUILD_DIR) && \
+		./configure --prefix="$(UNCRUSTIFY_DIR)" && \
+		$(ECHO) $(MSG_BUILDING) $(call toprel, $(UNCRUSTIFY_BUILD_DIR)) && \
+		$(MAKE) --silent && \
+		$(ECHO) $(MSG_INSTALLING) $(call toprel, $(UNCRUSTIFY_DIR)) && \
+		$(MAKE) --silent install-strip \
+	)
+	@$(ECHO) $(MSG_CLEANING) $(call toprel, $(UNCRUSTIFY_BUILD_DIR))
+	-$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -rf "$(UNCRUSTIFY_BUILD_DIR)"
+endef
+
+define UNCRUSTIFY_CLEAN_TEMPLATE
+	-$(V1) [ ! -d "$(UNCRUSTIFY_DIR)" ] || $(RM) -rf "$(UNCRUSTIFY_DIR)"
+endef
+
+$(eval $(call TOOL_INSTALL_TEMPLATE,uncrustify,$(UNCRUSTIFY_BUILD_DIR),$(UNCRUSTIFY_URL),$(notdir $(UNCRUSTIFY_URL)),$(UNCRUSTIFY_BUILD_TEMPLATE),$(UNCRUSTIFY_CLEAN_TEMPLATE)))
+
+endif
+
+ifeq ($(shell [ -d "$(UNCRUSTIFY_DIR)" ] && $(ECHO) "exists"), exists)
+    export UNCRUSTIFY := $(UNCRUSTIFY_DIR)/bin/uncrustify
+else
+    # not installed, hope it's in the path...
+    # $(info $(EMPTY) WARNING     $(call toprel, $(UNCRUSTIFY_DIR)) not found (make uncrustify_install), using system PATH)
+    export UNCRUSTIFY := uncrustify
+endif
+
+.PHONY: uncrustify_version
+uncrustify_version:
+	-$(V1) $(UNCRUSTIFY) --version
 
 
 

From 34983fa64320bd4e77f62a640c0463bb5bca15d3 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 22 Apr 2013 03:02:45 +0300
Subject: [PATCH 083/125] uncrustify: add some alignments to the configuration

See also: OPIN-3
---
 make/templates/uncrustify.cfg | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/make/templates/uncrustify.cfg b/make/templates/uncrustify.cfg
index 45a67b6b3..ff791ae5d 100644
--- a/make/templates/uncrustify.cfg
+++ b/make/templates/uncrustify.cfg
@@ -759,31 +759,31 @@ align_var_def_colon                      = false    # false/true
 align_var_def_attribute                  = false    # false/true
 
 # Whether to align inline struct/enum/union variable definitions
-align_var_def_inline                     = false    # false/true
+align_var_def_inline                     = true     # false/true
 
 # The span for aligning on '=' in assignments (0=don't align)
-align_assign_span                        = 0        # number
+align_assign_span                        = 3        # number
 
 # The threshold for aligning on '=' in assignments (0=no limit)
-align_assign_thresh                      = 0        # number
+align_assign_thresh                      = 4        # number
 
 # The span for aligning on '=' in enums (0=don't align)
-align_enum_equ_span                      = 0        # number
+align_enum_equ_span                      = 3        # number
 
 # The threshold for aligning on '=' in enums (0=no limit)
-align_enum_equ_thresh                    = 0        # number
+align_enum_equ_thresh                    = 4        # number
 
 # The span for aligning struct/union (0=don't align)
-align_var_struct_span                    = 0        # number
+align_var_struct_span                    = 3        # number
 
 # The threshold for aligning struct/union member definitions (0=no limit)
-align_var_struct_thresh                  = 0        # number
+align_var_struct_thresh                  = 4        # number
 
 # The gap for aligning struct/union member definitions
 align_var_struct_gap                     = 0        # number
 
 # The span for aligning struct initializer values (0=don't align)
-align_struct_init_span                   = 0        # number
+align_struct_init_span                   = 3        # number
 
 # The minimum space between the type and the synonym of a typedef
 align_typedef_gap                        = 0        # number
@@ -810,7 +810,7 @@ align_typedef_star_style                 = 0        # number
 align_typedef_amp_style                  = 0        # number
 
 # The span for aligning comments that end lines (0=don't align)
-align_right_cmt_span                     = 5        # number
+align_right_cmt_span                     = 0        # number
 
 # If aligning comments, mix with comments after '}' and #endif with less than 3 spaces before the comment
 align_right_cmt_mix                      = false    # false/true

From f9816175d064286e65480eba9ca409845cb2069b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 22 Apr 2013 22:32:57 +0300
Subject: [PATCH 084/125] tools: replace md5sum by openssl (now works on
 Windows/Linux/OSX)

See also: OP-719, OPReview-441
---
 make/tools.mk | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index d71baafaa..4607b429d 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -103,19 +103,23 @@ all_sdk_version:   $(addsuffix _version,$(ALL_SDK_TARGETS))
 #
 ##############################
 
+# Used by other makefiles
 export MKDIR	:= mkdir
 export CP	:= cp
 export RM	:= rm
 export LN	:= ln
 export CAT	:= cat
+export CUT	:= cut
 export SED	:= sed
-export TAR	:= tar
-export ANT	:= ant
-export JAVAC	:= javac
-export JAR	:= jar
-export GIT	:= git
-export CURL	:= curl
-export MD5SUM	:= md5sum
+
+# Used only by this Makefile
+TAR		:= tar
+ANT		:= ant
+JAVAC		:= javac
+JAR		:= jar
+GIT		:= git
+CURL		:= curl
+MD5		:= openssl dgst -md5
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
 # It does not work if make started under msysGit installed into a path with spaces.
@@ -200,13 +204,13 @@ $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
 	$(V1) ( \
 		cd "$(DL_DIR)" && \
 		$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4).md5" "$(3).md5" && \
-		if ! $(MD5SUM) -c --status "$(DL_DIR)/$(4).md5" 2>/dev/null; then \
+		if [ x`$(MD5) < "$(DL_DIR)/$(4)"` != x`$(CUT) -f1 -d' ' < "$(DL_DIR)/$(4).md5"` ]; then \
 			$(ECHO) $(MSG_DOWNLOADING) $(3) && \
 			$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4)" "$(3)" && \
 			$(ECHO) $(MSG_CHECKSUMMING) $$(call toprel, $(DL_DIR)/$(4)) && \
-			$(MD5SUM) -c --status "$(DL_DIR)/$(4).md5" 2>/dev/null; \
+			[ x`$(MD5) < "$(DL_DIR)/$(4)"` = x`$(CUT) -f1 -d' ' < "$(DL_DIR)/$(4).md5"` ]; \
 		fi; \
-	)
+	) 2>/dev/null
 
 	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
 	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))

From 84129dba40facb5a467b9a778ed90d07869a371f Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sun, 21 Apr 2013 18:57:55 +0200
Subject: [PATCH 085/125] OP-886 move systemalarm.h include inside guards in
 sanitycheck.h

+review OPReview-430
---
 flight/Libraries/inc/sanitycheck.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flight/Libraries/inc/sanitycheck.h b/flight/Libraries/inc/sanitycheck.h
index 214b50cfc..1ecaf8cc2 100644
--- a/flight/Libraries/inc/sanitycheck.h
+++ b/flight/Libraries/inc/sanitycheck.h
@@ -26,11 +26,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <systemalarms.h>
 
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#include <systemalarms.h>
+
 #define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
 #define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
 

From ba7b712cf1920abfc767e62726766b91478014ae Mon Sep 17 00:00:00 2001
From: Brian Webb <webbbn@gmail.com>
Date: Fri, 12 Apr 2013 14:37:06 +0100
Subject: [PATCH 086/125] Changed all references to PipXtreme on flight side to
 OPLink.

---
 Makefile                                      |   8 +-
 .../pipxtrememod.h => OPLink/inc/oplinkmod.h} |  14 +-
 .../pipxtrememod.c => OPLink/oplinkmod.c}     |  22 +-
 ...XTREME_Rev1.h => STM32103CB_OPLink_Rev1.h} |   6 +-
 flight/PiOS/Boards/pios_board.h               |   4 +-
 ... => link_STM32103CB_OPLINK_BL_sections.ld} |   0
 ...ry.ld => link_STM32103CB_OPLINK_memory.ld} |   0
 ....ld => link_STM32103CB_OPLINK_sections.ld} |   0
 flight/PiOS/inc/pios_usb_defs.h               |   4 +-
 .../OpenPilotOSX.xcodeproj/project.pbxproj    | 596 +++++++++---------
 flight/Project/Windows USB/OpenPilot-CDC.inf  |   6 +-
 flight/Project/gdb/{pipx => oplink}           |   2 +-
 .../{PipXtreme => OPLink}/Makefile            |   0
 .../{PipXtreme => OPLink}/inc/common.h        |   0
 .../{PipXtreme => OPLink}/inc/op_dfu.h        |   0
 .../{PipXtreme => OPLink}/inc/pios_config.h   |   0
 .../inc/pios_usb_board_data.h                 |   4 +-
 .../Bootloaders/{PipXtreme => OPLink}/main.c  |   0
 .../{PipXtreme => OPLink}/op_dfu.c            |   4 +-
 .../{PipXtreme => OPLink}/pios_board.c        |   0
 .../pios_usb_board_data.c                     |   0
 flight/targets/{PipXtreme => OPLink}/Makefile |   4 +-
 .../System/inc/FreeRTOSConfig.h               |   0
 .../System/inc/openpilot.h                    |   0
 .../System/inc/pios_board_posix.h             |   0
 .../System/inc/pios_config.h                  |   0
 .../System/inc/pios_config_posix.h            |   0
 .../System/inc/pios_usb_board_data.h          |   4 +-
 .../pipxtreme.c => OPLink/System/oplink.c}    |   0
 .../{PipXtreme => OPLink}/System/pios_board.c |   0
 .../System/pios_board_posix.c                 |   0
 .../System/pios_usb_board_data.c              |   0
 .../{pipxtreme => oplink}/board_hw_defs.c     |   4 +-
 .../{pipxtreme => oplink}/board-info.mk       |   2 +-
 34 files changed, 342 insertions(+), 342 deletions(-)
 rename flight/Modules/{PipXtreme/inc/pipxtrememod.h => OPLink/inc/oplinkmod.h} (82%)
 rename flight/Modules/{PipXtreme/pipxtrememod.c => OPLink/oplinkmod.c} (92%)
 rename flight/PiOS/Boards/{STM32103CB_PIPXTREME_Rev1.h => STM32103CB_OPLink_Rev1.h} (98%)
 rename flight/PiOS/STM32F10x/{link_STM32103CB_PIPXTREME_BL_sections.ld => link_STM32103CB_OPLINK_BL_sections.ld} (100%)
 rename flight/PiOS/STM32F10x/{link_STM32103CB_PIPXTREME_memory.ld => link_STM32103CB_OPLINK_memory.ld} (100%)
 rename flight/PiOS/STM32F10x/{link_STM32103CB_PIPXTREME_sections.ld => link_STM32103CB_OPLINK_sections.ld} (100%)
 rename flight/Project/gdb/{pipx => oplink} (95%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/Makefile (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/inc/pios_usb_board_data.h (95%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/main.c (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/op_dfu.c (99%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{PipXtreme => OPLink}/pios_usb_board_data.c (100%)
 rename flight/targets/{PipXtreme => OPLink}/Makefile (95%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/openpilot.h (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/pios_board_posix.h (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/pios_config.h (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/pios_config_posix.h (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/inc/pios_usb_board_data.h (94%)
 rename flight/targets/{PipXtreme/System/pipxtreme.c => OPLink/System/oplink.c} (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/pios_board.c (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/pios_board_posix.c (100%)
 rename flight/targets/{PipXtreme => OPLink}/System/pios_usb_board_data.c (100%)
 rename flight/targets/board_hw_defs/{pipxtreme => oplink}/board_hw_defs.c (99%)
 rename make/boards/{pipxtreme => oplink}/board-info.mk (95%)

diff --git a/Makefile b/Makefile
index f0e7e9720..3cea9c365 100644
--- a/Makefile
+++ b/Makefile
@@ -198,12 +198,12 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol pipxtreme revolution revomini osd simposix
-ALL_BOARDS_BU := coptercontrol pipxtreme simposix
+ALL_BOARDS    := coptercontrol oplink revolution revomini osd simposix
+ALL_BOARDS_BU := coptercontrol oplink simposix
 
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl
-pipxtreme_friendly     := PipXtreme
+oplink_friendly        := OPLink
 revolution_friendly    := Revolution
 revomini_friendly      := RevoMini
 osd_friendly           := OSD
@@ -211,7 +211,7 @@ simposix_friendly      := SimPosix
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
-pipxtreme_short        := 'pipx'
+oplink_short           := 'opl'
 revolution_short       := 'revo'
 revomini_short         := 'rm  '
 osd_short              := 'osd '
diff --git a/flight/Modules/PipXtreme/inc/pipxtrememod.h b/flight/Modules/OPLink/inc/oplinkmod.h
similarity index 82%
rename from flight/Modules/PipXtreme/inc/pipxtrememod.h
rename to flight/Modules/OPLink/inc/oplinkmod.h
index 01c8a3964..faeebad1b 100644
--- a/flight/Modules/PipXtreme/inc/pipxtrememod.h
+++ b/flight/Modules/OPLink/inc/oplinkmod.h
@@ -2,12 +2,12 @@
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @{ 
- * @addtogroup PipXtremeModule PipXtreme Module
+ * @addtogroup OPLinkModule OPLink Module
  * @{ 
  *
- * @file       pipxtrememod.h
+ * @file       oplinkmod.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      The PipXtreme system module
+ * @brief      The OPLink system module
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -27,9 +27,9 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef PIPXTREMEMOD_H
-#define PIPXTREMEMOD_H
+#ifndef OPLINKMOD_H
+#define OPLINKMOD_H
 
-int32_t PipXtremeModInitialize(void);
+int32_t OPLinkModInitialize(void);
 
-#endif // PIPXTREMEMOD_H
+#endif // OPLINKMOD_H
diff --git a/flight/Modules/PipXtreme/pipxtrememod.c b/flight/Modules/OPLink/oplinkmod.c
similarity index 92%
rename from flight/Modules/PipXtreme/pipxtrememod.c
rename to flight/Modules/OPLink/oplinkmod.c
index 729333a75..43ff51976 100644
--- a/flight/Modules/PipXtreme/pipxtrememod.c
+++ b/flight/Modules/OPLink/oplinkmod.c
@@ -2,20 +2,20 @@
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @brief The OpenPilot Modules do the majority of the control in OpenPilot.  The
- * @ref PipXtremeModule The PipXtreme Module is the equivalanet of the System
- * Module for the PipXtreme modem.  it starts all the other modules.
+ * @ref OPLinkModule The OPLink Module is the equivalanet of the System
+ * Module for the OPLink modem.  it starts all the other modules.
  #  This is done through the @ref PIOS "PIOS Hardware abstraction layer",
  # which then contains hardware specific implementations
  * (currently only STM32 supported)
  *
  * @{ 
- * @addtogroup PipXtremeModule PipXtreme Module
+ * @addtogroup OPLinkModule OPLink Module
  * @brief Initializes PIOS and other modules runs monitoring
  * After initializing all the modules runs basic monitoring and
  * alarms.
  * @{ 
  *
- * @file       pipxtrememod.c
+ * @file       oplinkmod.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      System module
  *
@@ -72,13 +72,13 @@ static void systemTask(void *parameters);
  * Create the module task.
  * \returns 0 on success or -1 if initialization failed
  */
-int32_t PipXtremeModStart(void)
+int32_t OPLinkModStart(void)
 {
 	// Initialize vars
 	stackOverflow = false;
 	mallocFailed = false;
-	// Create pipxtreme system task
-	xTaskCreate(systemTask, (signed char *)"PipXtreme", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
+	// Create oplink system task
+	xTaskCreate(systemTask, (signed char *)"OPLink", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
 	// Register task
 	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
 
@@ -89,7 +89,7 @@ int32_t PipXtremeModStart(void)
  * Initialize the module, called on startup.
  * \returns 0 on success or -1 if initialization failed
  */
-int32_t PipXtremeModInitialize(void)
+int32_t OPLinkModInitialize(void)
 {
 
 	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
@@ -111,12 +111,12 @@ int32_t PipXtremeModInitialize(void)
 	OPLinkStatusSet(&oplinkStatus);
 
 	// Call the module start function.
-	PipXtremeModStart();
+	OPLinkModStart();
 
 	return 0;
 }
 
-MODULE_INITCALL(PipXtremeModInitialize, 0)
+MODULE_INITCALL(OPLinkModInitialize, 0)
 
 /**
  * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
@@ -152,7 +152,7 @@ static void systemTask(void *parameters)
 		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 #endif	/* PIOS_LED_HEARTBEAT */
 
-		// Update the PipXstatus UAVO
+		// Update the OPLinkStatus UAVO
 		OPLinkStatusData oplinkStatus;
 		OPLinkStatusGet(&oplinkStatus);
 
diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h
similarity index 98%
rename from flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
rename to flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h
index 616d2c68d..b58a12345 100755
--- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h
@@ -23,8 +23,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef STM32103CB_PIPXTREME_H_
-#define STM32103CB_PIPXTREME_H_
+#ifndef STM32103CB_OPLINK_H_
+#define STM32103CB_OPLINK_H_
 
 #define ADD_ONE_ADC
 
@@ -312,4 +312,4 @@ extern uint32_t pios_packet_handler;
 #define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
 #define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE
 
-#endif /* STM32103CB_PIPXTREME_H_ */
+#endif /* STM32103CB_OPLINK_H_ */
diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index 9a2340e2e..9ff76fa32 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -3,8 +3,8 @@
 
 #ifdef USE_STM3210E_OP
 #include "STM3210E_OP.h"
-#elif USE_STM32103CB_PIPXTREME
-#include "STM32103CB_PIPXTREME_Rev1.h"
+#elif USE_STM32103CB_OPLINK
+#include "STM32103CB_OPLINK_Rev1.h"
 #elif USE_STM32103CB_CC_Rev1
 #include "STM32103CB_CC_Rev1.h"
 #elif USE_STM32F2xx_INS
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_BL_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_BL_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_memory.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_sections.ld
diff --git a/flight/PiOS/inc/pios_usb_defs.h b/flight/PiOS/inc/pios_usb_defs.h
index d94289272..925e287ec 100644
--- a/flight/PiOS/inc/pios_usb_defs.h
+++ b/flight/PiOS/inc/pios_usb_defs.h
@@ -351,7 +351,7 @@ enum usb_cdc_notification {
 enum usb_product_ids {
 	USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
 	USB_PRODUCT_ID_COPTERCONTROL  = 0x415B,
-	USB_PRODUCT_ID_PIPXTREME      = 0x415C,
+	USB_PRODUCT_ID_OPLINK         = 0x415C,
 	USB_PRODUCT_ID_CC3D           = 0x415D,
 	USB_PRODUCT_ID_REVOLUTION     = 0x415E,
 	USB_PRODUCT_ID_OSD            = 0x4194,
@@ -361,7 +361,7 @@ enum usb_product_ids {
 enum usb_op_board_ids {
 	USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
 	/* Board ID 2 may be unused or AHRS */
-	USB_OP_BOARD_ID_PIPXTREME      = 3,
+	USB_OP_BOARD_ID_OPLINK         = 3,
 	USB_OP_BOARD_ID_COPTERCONTROL  = 4,
 	USB_OP_BOARD_ID_REVOLUTION     = 5,
 	USB_OP_BOARD_ID_OSD     	   = 6,
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index ca4f7532f..273032d6a 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -1,298 +1,298 @@
-// !$*UTF8*$!
-{
-	archiveVersion = 1;
-	classes = {
-	};
-	objectVersion = 45;
-	objects = {
-
-/* Begin PBXFileReference section */
-		4354B66314FED9FE004BA3B4 /* flight */ = {isa = PBXFileReference; lastKnownFileType = folder; name = flight; path = ../..; sourceTree = SOURCE_ROOT; };
-		65173C9F12EBFD1700D6A7CB /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../../Makefile; sourceTree = SOURCE_ROOT; };
-		65904F1814632C1700FD9482 /* firmware-defs.mk */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = "firmware-defs.mk"; sourceTree = "<group>"; };
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-		65904F2314632C1700FD9482 /* board-info.mk */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = "board-info.mk"; sourceTree = "<group>"; };
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-		65904F2514632C1700FD9482 /* board-info.mk */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = "board-info.mk"; sourceTree = "<group>"; };
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-		65904F2714632C1700FD9482 /* board-info.mk */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = "board-info.mk"; sourceTree = "<group>"; };
-		65904F2814632C1700FD9482 /* version-info.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = "version-info.py"; sourceTree = "<group>"; };
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-		65904F2D14632C1700FD9482 /* README.txt */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = README.txt; sourceTree = "<group>"; };
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-/* End PBXFileReference section */
-
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-			isa = PBXGroup;
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-			);
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-/* End PBXGroup section */
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-/* Begin PBXLegacyTarget section */
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-			dependencies = (
-			);
-			name = OpenPilotOSX;
-			passBuildSettingsInEnvironment = 1;
-			productName = OpenPilotOSX;
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-/* End PBXLegacyTarget section */
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-/* Begin PBXProject section */
-		08FB7793FE84155DC02AAC07 /* Project object */ = {
-			isa = PBXProject;
-			attributes = {
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-			knownRegions = (
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-				Japanese,
-				French,
-				German,
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-/* Begin XCBuildConfiguration section */
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-/* End XCConfigurationList section */
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-	rootObject = 08FB7793FE84155DC02AAC07 /* Project object */;
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+// !$*UTF8*$!
+{
+	archiveVersion = 1;
+	classes = {
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+	objectVersion = 45;
+	objects = {
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+/* Begin PBXFileReference section */
+		4354B66314FED9FE004BA3B4 /* flight */ = {isa = PBXFileReference; lastKnownFileType = folder; name = flight; path = ../..; sourceTree = SOURCE_ROOT; };
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+		65904F3114632C1700FD9482 /* make.sh */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = make.sh; sourceTree = "<group>"; };
+		65904F3214632C1700FD9482 /* sh.cmd */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = sh.cmd; sourceTree = "<group>"; };
+		65904F34146362F300FD9482 /* board-info.mk */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = "board-info.mk"; sourceTree = "<group>"; };
+		65E466BC14E244020075459C /* uavobjectdefinition */ = {isa = PBXFileReference; lastKnownFileType = folder; path = uavobjectdefinition; sourceTree = "<group>"; };
+/* End PBXFileReference section */
+
+/* Begin PBXGroup section */
+		08FB7794FE84155DC02AAC07 /* OpenPilotOSX */ = {
+			isa = PBXGroup;
+			children = (
+				4354B66314FED9FE004BA3B4 /* flight */,
+				65904F1614632C1700FD9482 /* make */,
+				65C35E4E12EFB2F3004811C2 /* shared */,
+				65173C9F12EBFD1700D6A7CB /* Makefile */,
+			);
+			name = OpenPilotOSX;
+			sourceTree = "<group>";
+		};
+		65904F1614632C1700FD9482 /* make */ = {
+			isa = PBXGroup;
+			children = (
+				65904F1714632C1700FD9482 /* boards */,
+				65904F1814632C1700FD9482 /* firmware-defs.mk */,
+				65904F1914632C1700FD9482 /* scripts */,
+				65904F1A14632C1700FD9482 /* templates */,
+				65904F1B14632C1700FD9482 /* winx86 */,
+			);
+			name = make;
+			path = OpenPilotOSX.xcodeproj/../../../../make;
+			sourceTree = "<group>";
+		};
+		65904F1714632C1700FD9482 /* boards */ = {
+			isa = PBXGroup;
+			children = (
+				65904F33146362F300FD9482 /* revolution */,
+				65904F1C14632C1700FD9482 /* ahrs */,
+				65904F1D14632C1700FD9482 /* coptercontrol */,
+				65904F1E14632C1700FD9482 /* esc */,
+				65904F1F14632C1700FD9482 /* ins */,
+				65904F2014632C1700FD9482 /* openpilot */,
+				65904F2114632C1700FD9482 /* oplink */,
+			);
+			path = boards;
+			sourceTree = "<group>";
+		};
+		65904F1914632C1700FD9482 /* scripts */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2814632C1700FD9482 /* version-info.py */,
+			);
+			path = scripts;
+			sourceTree = "<group>";
+		};
+		65904F1A14632C1700FD9482 /* templates */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2914632C1700FD9482 /* firmwareinfotemplate.c */,
+				65904F2A14632C1700FD9482 /* gcsversioninfotemplate.h */,
+			);
+			path = templates;
+			sourceTree = "<group>";
+		};
+		65904F1B14632C1700FD9482 /* winx86 */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2B14632C1700FD9482 /* bin */,
+				65904F2C14632C1700FD9482 /* cmd */,
+				65904F2D14632C1700FD9482 /* README.txt */,
+				65904F2E14632C1700FD9482 /* shell_script.reg */,
+			);
+			path = winx86;
+			sourceTree = "<group>";
+		};
+		65904F1C14632C1700FD9482 /* ahrs */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2214632C1700FD9482 /* board-info.mk */,
+			);
+			path = ahrs;
+			sourceTree = "<group>";
+		};
+		65904F1D14632C1700FD9482 /* coptercontrol */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2314632C1700FD9482 /* board-info.mk */,
+			);
+			path = coptercontrol;
+			sourceTree = "<group>";
+		};
+		65904F1E14632C1700FD9482 /* esc */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2414632C1700FD9482 /* board-info.mk */,
+			);
+			path = esc;
+			sourceTree = "<group>";
+		};
+		65904F1F14632C1700FD9482 /* ins */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2514632C1700FD9482 /* board-info.mk */,
+			);
+			path = ins;
+			sourceTree = "<group>";
+		};
+		65904F2014632C1700FD9482 /* openpilot */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2614632C1700FD9482 /* board-info.mk */,
+			);
+			path = openpilot;
+			sourceTree = "<group>";
+		};
+		65904F2114632C1700FD9482 /* oplink */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2714632C1700FD9482 /* board-info.mk */,
+			);
+			path = oplink;
+			sourceTree = "<group>";
+		};
+		65904F2B14632C1700FD9482 /* bin */ = {
+			isa = PBXGroup;
+			children = (
+				65904F2F14632C1700FD9482 /* install */,
+				65904F3014632C1700FD9482 /* make */,
+			);
+			path = bin;
+			sourceTree = "<group>";
+		};
+		65904F2C14632C1700FD9482 /* cmd */ = {
+			isa = PBXGroup;
+			children = (
+				65904F3114632C1700FD9482 /* make.sh */,
+				65904F3214632C1700FD9482 /* sh.cmd */,
+			);
+			path = cmd;
+			sourceTree = "<group>";
+		};
+		65904F33146362F300FD9482 /* revolution */ = {
+			isa = PBXGroup;
+			children = (
+				65904F34146362F300FD9482 /* board-info.mk */,
+			);
+			path = revolution;
+			sourceTree = "<group>";
+		};
+		65C35E4E12EFB2F3004811C2 /* shared */ = {
+			isa = PBXGroup;
+			children = (
+				65E466BC14E244020075459C /* uavobjectdefinition */,
+			);
+			name = shared;
+			path = ../../../shared;
+			sourceTree = SOURCE_ROOT;
+		};
+/* End PBXGroup section */
+
+/* Begin PBXLegacyTarget section */
+		6581071511DE809D0049FB12 /* OpenPilotOSX */ = {
+			isa = PBXLegacyTarget;
+			buildArgumentsString = "$(ACTION) -f Makefile.posix";
+			buildConfigurationList = 6581071A11DE80A30049FB12 /* Build configuration list for PBXLegacyTarget "OpenPilotOSX" */;
+			buildPhases = (
+			);
+			buildToolPath = /usr/bin/make;
+			buildWorkingDirectory = ../../OpenPilot;
+			dependencies = (
+			);
+			name = OpenPilotOSX;
+			passBuildSettingsInEnvironment = 1;
+			productName = OpenPilotOSX;
+		};
+/* End PBXLegacyTarget section */
+
+/* Begin PBXProject section */
+		08FB7793FE84155DC02AAC07 /* Project object */ = {
+			isa = PBXProject;
+			attributes = {
+				ORGANIZATIONNAME = OpenPilot;
+			};
+			buildConfigurationList = 1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */;
+			compatibilityVersion = "Xcode 3.1";
+			developmentRegion = English;
+			hasScannedForEncodings = 1;
+			knownRegions = (
+				English,
+				Japanese,
+				French,
+				German,
+			);
+			mainGroup = 08FB7794FE84155DC02AAC07 /* OpenPilotOSX */;
+			projectDirPath = "";
+			projectRoot = ../../..;
+			targets = (
+				6581071511DE809D0049FB12 /* OpenPilotOSX */,
+			);
+		};
+/* End PBXProject section */
+
+/* Begin XCBuildConfiguration section */
+		1DEB928A08733DD80010E9CD /* Debug */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ARCHS = "$(ARCHS_STANDARD_32_64_BIT)";
+				GCC_C_LANGUAGE_STANDARD = gnu99;
+				GCC_OPTIMIZATION_LEVEL = 0;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				ONLY_ACTIVE_ARCH = YES;
+				PREBINDING = NO;
+				SDKROOT = macosx10.6;
+			};
+			name = Debug;
+		};
+		1DEB928B08733DD80010E9CD /* Release */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				ARCHS = "$(ARCHS_STANDARD_32_64_BIT)";
+				GCC_C_LANGUAGE_STANDARD = gnu99;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				PREBINDING = NO;
+				SDKROOT = macosx10.6;
+			};
+			name = Release;
+		};
+		6581071611DE809D0049FB12 /* Debug */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				COPY_PHASE_STRIP = NO;
+				GCC_DYNAMIC_NO_PIC = NO;
+				GCC_OPTIMIZATION_LEVEL = 0;
+				PRODUCT_NAME = OpenPilotOSX;
+			};
+			name = Debug;
+		};
+		6581071711DE809D0049FB12 /* Release */ = {
+			isa = XCBuildConfiguration;
+			buildSettings = {
+				COPY_PHASE_STRIP = YES;
+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+				GCC_ENABLE_FIX_AND_CONTINUE = NO;
+				PRODUCT_NAME = OpenPilotOSX;
+				ZERO_LINK = NO;
+			};
+			name = Release;
+		};
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+		1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				1DEB928A08733DD80010E9CD /* Debug */,
+				1DEB928B08733DD80010E9CD /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+		6581071A11DE80A30049FB12 /* Build configuration list for PBXLegacyTarget "OpenPilotOSX" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				6581071611DE809D0049FB12 /* Debug */,
+				6581071711DE809D0049FB12 /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+/* End XCConfigurationList section */
+	};
+	rootObject = 08FB7793FE84155DC02AAC07 /* Project object */;
+}
diff --git a/flight/Project/Windows USB/OpenPilot-CDC.inf b/flight/Project/Windows USB/OpenPilot-CDC.inf
index 7b799c8b0..ad82db783 100644
--- a/flight/Project/Windows USB/OpenPilot-CDC.inf	
+++ b/flight/Project/Windows USB/OpenPilot-CDC.inf	
@@ -10,11 +10,11 @@ DriverVer=10/15/2009,1.0.0.0
 
 [DeviceList.NTx86]
 %CopterControl%= DriverInstall,USB\VID_20A0&PID_415b&MI_00
-%PipXtreme%= DriverInstall,USB\VID_20A0&PID_415c&MI_00
+%OPLink%= DriverInstall,USB\VID_20A0&PID_415c&MI_00
 
 [DeviceList.NTamd64]
 %CopterControl%= DriverInstall,USB\VID_20A0&PID_415b&MI_00
-%PipXtreme%= DriverInstall,USB\VID_20A0&PID_415c&MI_00
+%OPLink%= DriverInstall,USB\VID_20A0&PID_415c&MI_00
 
 [DriverInstall]
 include=mdmcpq.inf
@@ -32,4 +32,4 @@ HKR,,EnumPropPages32,,"MsPorts.dll,SerialPortPropPageProvider"
 [Strings]
 ProviderName = "CDC Driver"
 CopterControl = "OpenPilot CDC Driver"
-PipXtreme = "OpenPilot CDC Driver"
+OPLink = "OpenPilot CDC Driver"
diff --git a/flight/Project/gdb/pipx b/flight/Project/gdb/oplink
similarity index 95%
rename from flight/Project/gdb/pipx
rename to flight/Project/gdb/oplink
index d2b25a138..a04095a20 100644
--- a/flight/Project/gdb/pipx
+++ b/flight/Project/gdb/oplink
@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./Build/PipXtreme.elf
+	file ./Build/OPLink.elf
 end
 #monitor reset halt
 
diff --git a/flight/targets/Bootloaders/PipXtreme/Makefile b/flight/targets/Bootloaders/OPLink/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/Makefile
rename to flight/targets/Bootloaders/OPLink/Makefile
diff --git a/flight/targets/Bootloaders/PipXtreme/inc/common.h b/flight/targets/Bootloaders/OPLink/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/inc/common.h
rename to flight/targets/Bootloaders/OPLink/inc/common.h
diff --git a/flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h b/flight/targets/Bootloaders/OPLink/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h
rename to flight/targets/Bootloaders/OPLink/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/PipXtreme/inc/pios_config.h b/flight/targets/Bootloaders/OPLink/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/inc/pios_config.h
rename to flight/targets/Bootloaders/OPLink/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/PipXtreme/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/OPLink/inc/pios_usb_board_data.h
similarity index 95%
rename from flight/targets/Bootloaders/PipXtreme/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/OPLink/inc/pios_usb_board_data.h
index f959c0e03..68793f4a8 100644
--- a/flight/targets/Bootloaders/PipXtreme/inc/pios_usb_board_data.h
+++ b/flight/targets/Bootloaders/OPLink/inc/pios_usb_board_data.h
@@ -37,8 +37,8 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME
-#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_BL)
+#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPLINK
+#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPLINK, USB_OP_BOARD_MODE_BL)
 #define PIOS_USB_BOARD_SN_SUFFIX "+BL"
 
 /*
diff --git a/flight/targets/Bootloaders/PipXtreme/main.c b/flight/targets/Bootloaders/OPLink/main.c
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/main.c
rename to flight/targets/Bootloaders/OPLink/main.c
diff --git a/flight/targets/Bootloaders/PipXtreme/op_dfu.c b/flight/targets/Bootloaders/OPLink/op_dfu.c
similarity index 99%
rename from flight/targets/Bootloaders/PipXtreme/op_dfu.c
rename to flight/targets/Bootloaders/OPLink/op_dfu.c
index 009771f4a..fbbed86aa 100644
--- a/flight/targets/Bootloaders/PipXtreme/op_dfu.c
+++ b/flight/targets/Bootloaders/OPLink/op_dfu.c
@@ -236,7 +236,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 						}
 						break;
 					case Remote_flash_via_spi:
-						result = FALSE; // No support for this for the PipX
+						result = FALSE; // No support for this for the OPLink
 						break;
 					default:
 						result = 0;
@@ -453,7 +453,7 @@ void sendData(uint8_t * buf, uint16_t size) {
 bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 	switch (type) {
 	case Remote_flash_via_spi:
-		return FALSE; // We should not get this for the PipX
+		return FALSE; // We should not get this for the OPLink
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
diff --git a/flight/targets/Bootloaders/PipXtreme/pios_board.c b/flight/targets/Bootloaders/OPLink/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/pios_board.c
rename to flight/targets/Bootloaders/OPLink/pios_board.c
diff --git a/flight/targets/Bootloaders/PipXtreme/pios_usb_board_data.c b/flight/targets/Bootloaders/OPLink/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/PipXtreme/pios_usb_board_data.c
rename to flight/targets/Bootloaders/OPLink/pios_usb_board_data.c
diff --git a/flight/targets/PipXtreme/Makefile b/flight/targets/OPLink/Makefile
similarity index 95%
rename from flight/targets/PipXtreme/Makefile
rename to flight/targets/OPLink/Makefile
index e0de6fe89..1cdeef575 100644
--- a/flight/targets/PipXtreme/Makefile
+++ b/flight/targets/OPLink/Makefile
@@ -36,8 +36,8 @@ OPTMODULES =
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += $(OPMODULEDIR)/PipXtreme/pipxtrememod.c
-    SRC += $(OPSYSTEM)/pipxtreme.c
+    SRC += ${OPMODULEDIR}/OPLink/oplinkmod.c
+    SRC += $(OPSYSTEM)/oplink.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(OPUAVTALK)/uavtalk.c
diff --git a/flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h b/flight/targets/OPLink/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/PipXtreme/System/inc/FreeRTOSConfig.h
rename to flight/targets/OPLink/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/PipXtreme/System/inc/openpilot.h b/flight/targets/OPLink/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/PipXtreme/System/inc/openpilot.h
rename to flight/targets/OPLink/System/inc/openpilot.h
diff --git a/flight/targets/PipXtreme/System/inc/pios_board_posix.h b/flight/targets/OPLink/System/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/PipXtreme/System/inc/pios_board_posix.h
rename to flight/targets/OPLink/System/inc/pios_board_posix.h
diff --git a/flight/targets/PipXtreme/System/inc/pios_config.h b/flight/targets/OPLink/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/PipXtreme/System/inc/pios_config.h
rename to flight/targets/OPLink/System/inc/pios_config.h
diff --git a/flight/targets/PipXtreme/System/inc/pios_config_posix.h b/flight/targets/OPLink/System/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/PipXtreme/System/inc/pios_config_posix.h
rename to flight/targets/OPLink/System/inc/pios_config_posix.h
diff --git a/flight/targets/PipXtreme/System/inc/pios_usb_board_data.h b/flight/targets/OPLink/System/inc/pios_usb_board_data.h
similarity index 94%
rename from flight/targets/PipXtreme/System/inc/pios_usb_board_data.h
rename to flight/targets/OPLink/System/inc/pios_usb_board_data.h
index 4448831d8..342cf0ecc 100644
--- a/flight/targets/PipXtreme/System/inc/pios_usb_board_data.h
+++ b/flight/targets/OPLink/System/inc/pios_usb_board_data.h
@@ -39,8 +39,8 @@
 
 #include "pios_usb_defs.h" 	/* USB_* macros */
 
-#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME
-#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_FW)
+#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPLINK
+#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPLINK, USB_OP_BOARD_MODE_FW)
 #define PIOS_USB_BOARD_SN_SUFFIX "+FW"
 
 #endif	/* PIOS_USB_BOARD_DATA_H */
diff --git a/flight/targets/PipXtreme/System/pipxtreme.c b/flight/targets/OPLink/System/oplink.c
similarity index 100%
rename from flight/targets/PipXtreme/System/pipxtreme.c
rename to flight/targets/OPLink/System/oplink.c
diff --git a/flight/targets/PipXtreme/System/pios_board.c b/flight/targets/OPLink/System/pios_board.c
similarity index 100%
rename from flight/targets/PipXtreme/System/pios_board.c
rename to flight/targets/OPLink/System/pios_board.c
diff --git a/flight/targets/PipXtreme/System/pios_board_posix.c b/flight/targets/OPLink/System/pios_board_posix.c
similarity index 100%
rename from flight/targets/PipXtreme/System/pios_board_posix.c
rename to flight/targets/OPLink/System/pios_board_posix.c
diff --git a/flight/targets/PipXtreme/System/pios_usb_board_data.c b/flight/targets/OPLink/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/PipXtreme/System/pios_usb_board_data.c
rename to flight/targets/OPLink/System/pios_usb_board_data.c
diff --git a/flight/targets/board_hw_defs/pipxtreme/board_hw_defs.c b/flight/targets/board_hw_defs/oplink/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/pipxtreme/board_hw_defs.c
rename to flight/targets/board_hw_defs/oplink/board_hw_defs.c
index 2b87f1404..b47c78f1b 100644
--- a/flight/targets/board_hw_defs/pipxtreme/board_hw_defs.c
+++ b/flight/targets/board_hw_defs/oplink/board_hw_defs.c
@@ -261,7 +261,7 @@ static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
 
 #include <pios_rfm22b_priv.h>
 
-struct pios_rfm22b_cfg pios_rfm22b_pipx_cfg = {
+struct pios_rfm22b_cfg pios_rfm22b_cfg = {
 	.spi_cfg = &pios_spi_rfm22b_cfg,
 	.exti_cfg = &pios_exti_rfm22b_cfg,
 	.RFXtalCap = 0x7f,
@@ -272,7 +272,7 @@ struct pios_rfm22b_cfg pios_rfm22b_pipx_cfg = {
 //! Compatibility layer for various hardware revisions
 const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision)
 {
-	return &pios_rfm22b_pipx_cfg;
+	return &pios_rfm22b_cfg;
 }
 
 #endif /* PIOS_INCLUDE_RFM22B */
diff --git a/make/boards/pipxtreme/board-info.mk b/make/boards/oplink/board-info.mk
similarity index 95%
rename from make/boards/pipxtreme/board-info.mk
rename to make/boards/oplink/board-info.mk
index 0a3e888c7..fa1d627a3 100644
--- a/make/boards/pipxtreme/board-info.mk
+++ b/make/boards/oplink/board-info.mk
@@ -5,7 +5,7 @@ HW_TYPE             := 0x01
 
 MCU                 := cortex-m3
 CHIP                := STM32F103CBT
-BOARD               := STM32103CB_PIPXTREME
+BOARD               := STM32103CB_OPLINK
 MODEL               := MD
 MODEL_SUFFIX        := _PX
 

From 6cd963e4236cf82f406becdd52769d3bebf5680d Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 12 Apr 2013 20:57:19 +0300
Subject: [PATCH 087/125] OP-896: fix a conflict resolution typo

---
 flight/targets/OPLink/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/targets/OPLink/Makefile b/flight/targets/OPLink/Makefile
index 1cdeef575..599ea4ce9 100644
--- a/flight/targets/OPLink/Makefile
+++ b/flight/targets/OPLink/Makefile
@@ -36,7 +36,7 @@ OPTMODULES =
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/OPLink/oplinkmod.c
+    SRC += $(OPMODULEDIR)/OPLink/oplinkmod.c
     SRC += $(OPSYSTEM)/oplink.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

From fe1a6b1c5b1b9bd7c4abbb5b8f9f34763d0eaeeb Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Fri, 12 Apr 2013 21:18:49 +0300
Subject: [PATCH 088/125] OP-896: Linux and Mac are case-sensitive

---
 flight/PiOS/Boards/pios_board.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index 9ff76fa32..eb49907b7 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -4,7 +4,7 @@
 #ifdef USE_STM3210E_OP
 #include "STM3210E_OP.h"
 #elif USE_STM32103CB_OPLINK
-#include "STM32103CB_OPLINK_Rev1.h"
+#include "STM32103CB_OPLink_Rev1.h"
 #elif USE_STM32103CB_CC_Rev1
 #include "STM32103CB_CC_Rev1.h"
 #elif USE_STM32F2xx_INS

From 1ded5360562efc545461492bcf9c53799caf64a7 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 13 Apr 2013 00:24:30 +0300
Subject: [PATCH 089/125] OP-896: rename OPLink to OPLinkMini

---
 Makefile                                                  | 8 ++++----
 ...32103CB_OPLink_Rev1.h => STM32103CB_OPLinkMini_Rev1.h} | 6 +++---
 flight/PiOS/Boards/pios_board.h                           | 4 ++--
 ...tions.ld => link_STM32103CB_OPLINKMINI_BL_sections.ld} | 0
 ...INK_memory.ld => link_STM32103CB_OPLINKMINI_memory.ld} | 0
 ...sections.ld => link_STM32103CB_OPLINKMINI_sections.ld} | 0
 flight/Project/gdb/{oplink => oplinkmini}                 | 2 +-
 .../targets/Bootloaders/{OPLink => OPLinkMini}/Makefile   | 0
 .../Bootloaders/{OPLink => OPLinkMini}/inc/common.h       | 0
 .../Bootloaders/{OPLink => OPLinkMini}/inc/op_dfu.h       | 0
 .../Bootloaders/{OPLink => OPLinkMini}/inc/pios_config.h  | 0
 .../{OPLink => OPLinkMini}/inc/pios_usb_board_data.h      | 0
 flight/targets/Bootloaders/{OPLink => OPLinkMini}/main.c  | 0
 .../targets/Bootloaders/{OPLink => OPLinkMini}/op_dfu.c   | 0
 .../Bootloaders/{OPLink => OPLinkMini}/pios_board.c       | 0
 .../{OPLink => OPLinkMini}/pios_usb_board_data.c          | 0
 flight/targets/{OPLink => OPLinkMini}/Makefile            | 0
 .../{OPLink => OPLinkMini}/System/inc/FreeRTOSConfig.h    | 0
 .../targets/{OPLink => OPLinkMini}/System/inc/openpilot.h | 0
 .../{OPLink => OPLinkMini}/System/inc/pios_board_posix.h  | 0
 .../{OPLink => OPLinkMini}/System/inc/pios_config.h       | 0
 .../{OPLink => OPLinkMini}/System/inc/pios_config_posix.h | 0
 .../System/inc/pios_usb_board_data.h                      | 0
 flight/targets/{OPLink => OPLinkMini}/System/oplink.c     | 0
 flight/targets/{OPLink => OPLinkMini}/System/pios_board.c | 0
 .../{OPLink => OPLinkMini}/System/pios_board_posix.c      | 0
 .../{OPLink => OPLinkMini}/System/pios_usb_board_data.c   | 0
 .../board_hw_defs/{oplink => oplinkmini}/board_hw_defs.c  | 0
 .../src/plugins/uploader/uploadergadgetwidget.cpp         | 2 +-
 make/boards/{oplink => oplinkmini}/board-info.mk          | 2 +-
 30 files changed, 12 insertions(+), 12 deletions(-)
 rename flight/PiOS/Boards/{STM32103CB_OPLink_Rev1.h => STM32103CB_OPLinkMini_Rev1.h} (98%)
 mode change 100755 => 100644
 rename flight/PiOS/STM32F10x/{link_STM32103CB_OPLINK_BL_sections.ld => link_STM32103CB_OPLINKMINI_BL_sections.ld} (100%)
 rename flight/PiOS/STM32F10x/{link_STM32103CB_OPLINK_memory.ld => link_STM32103CB_OPLINKMINI_memory.ld} (100%)
 rename flight/PiOS/STM32F10x/{link_STM32103CB_OPLINK_sections.ld => link_STM32103CB_OPLINKMINI_sections.ld} (100%)
 rename flight/Project/gdb/{oplink => oplinkmini} (92%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/Makefile (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/main.c (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{OPLink => OPLinkMini}/pios_usb_board_data.c (100%)
 rename flight/targets/{OPLink => OPLinkMini}/Makefile (100%)
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/FreeRTOSConfig.h (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/openpilot.h (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/pios_board_posix.h (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/pios_config.h (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/pios_config_posix.h (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{OPLink => OPLinkMini}/System/oplink.c (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/pios_board.c (100%)
 rename flight/targets/{OPLink => OPLinkMini}/System/pios_board_posix.c (100%)
 mode change 100755 => 100644
 rename flight/targets/{OPLink => OPLinkMini}/System/pios_usb_board_data.c (100%)
 rename flight/targets/board_hw_defs/{oplink => oplinkmini}/board_hw_defs.c (100%)
 rename make/boards/{oplink => oplinkmini}/board-info.mk (95%)

diff --git a/Makefile b/Makefile
index 3cea9c365..c175ccd40 100644
--- a/Makefile
+++ b/Makefile
@@ -198,12 +198,12 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol oplink revolution revomini osd simposix
-ALL_BOARDS_BU := coptercontrol oplink simposix
+ALL_BOARDS    := coptercontrol oplinkmini revolution revomini osd simposix
+ALL_BOARDS_BU := coptercontrol oplinkmini simposix
 
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl
-oplink_friendly        := OPLink
+oplinkmini_friendly    := OPLinkMini
 revolution_friendly    := Revolution
 revomini_friendly      := RevoMini
 osd_friendly           := OSD
@@ -211,7 +211,7 @@ simposix_friendly      := SimPosix
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
-oplink_short           := 'opl'
+oplinkmini_short       := 'oplm'
 revolution_short       := 'revo'
 revomini_short         := 'rm  '
 osd_short              := 'osd '
diff --git a/flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h b/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
old mode 100755
new mode 100644
similarity index 98%
rename from flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h
rename to flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
index b58a12345..dcbfbcc9d
--- a/flight/PiOS/Boards/STM32103CB_OPLink_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
@@ -23,8 +23,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef STM32103CB_OPLINK_H_
-#define STM32103CB_OPLINK_H_
+#ifndef STM32103CB_OPLINKMINI_H
+#define STM32103CB_OPLINKMINI_H
 
 #define ADD_ONE_ADC
 
@@ -312,4 +312,4 @@ extern uint32_t pios_packet_handler;
 #define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
 #define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE
 
-#endif /* STM32103CB_OPLINK_H_ */
+#endif /* STM32103CB_OPLINKMINI_H */
diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index eb49907b7..87e227060 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -3,8 +3,8 @@
 
 #ifdef USE_STM3210E_OP
 #include "STM3210E_OP.h"
-#elif USE_STM32103CB_OPLINK
-#include "STM32103CB_OPLink_Rev1.h"
+#elif USE_STM32103CB_OPLINKMINI
+#include "STM32103CB_OPLinkMini_Rev1.h"
 #elif USE_STM32103CB_CC_Rev1
 #include "STM32103CB_CC_Rev1.h"
 #elif USE_STM32F2xx_INS
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_BL_sections.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_memory.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_memory.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_memory.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINK_sections.ld
rename to flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_sections.ld
diff --git a/flight/Project/gdb/oplink b/flight/Project/gdb/oplinkmini
similarity index 92%
rename from flight/Project/gdb/oplink
rename to flight/Project/gdb/oplinkmini
index a04095a20..b64ce2a35 100644
--- a/flight/Project/gdb/oplink
+++ b/flight/Project/gdb/oplinkmini
@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./Build/OPLink.elf
+	file ./build/fw_oplinkmini/fw_oplinkmini.elf
 end
 #monitor reset halt
 
diff --git a/flight/targets/Bootloaders/OPLink/Makefile b/flight/targets/Bootloaders/OPLinkMini/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/Makefile
rename to flight/targets/Bootloaders/OPLinkMini/Makefile
diff --git a/flight/targets/Bootloaders/OPLink/inc/common.h b/flight/targets/Bootloaders/OPLinkMini/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/inc/common.h
rename to flight/targets/Bootloaders/OPLinkMini/inc/common.h
diff --git a/flight/targets/Bootloaders/OPLink/inc/op_dfu.h b/flight/targets/Bootloaders/OPLinkMini/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/inc/op_dfu.h
rename to flight/targets/Bootloaders/OPLinkMini/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/OPLink/inc/pios_config.h b/flight/targets/Bootloaders/OPLinkMini/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/inc/pios_config.h
rename to flight/targets/Bootloaders/OPLinkMini/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/OPLink/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/OPLinkMini/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/OPLinkMini/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/OPLink/main.c b/flight/targets/Bootloaders/OPLinkMini/main.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/main.c
rename to flight/targets/Bootloaders/OPLinkMini/main.c
diff --git a/flight/targets/Bootloaders/OPLink/op_dfu.c b/flight/targets/Bootloaders/OPLinkMini/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/op_dfu.c
rename to flight/targets/Bootloaders/OPLinkMini/op_dfu.c
diff --git a/flight/targets/Bootloaders/OPLink/pios_board.c b/flight/targets/Bootloaders/OPLinkMini/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/pios_board.c
rename to flight/targets/Bootloaders/OPLinkMini/pios_board.c
diff --git a/flight/targets/Bootloaders/OPLink/pios_usb_board_data.c b/flight/targets/Bootloaders/OPLinkMini/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLink/pios_usb_board_data.c
rename to flight/targets/Bootloaders/OPLinkMini/pios_usb_board_data.c
diff --git a/flight/targets/OPLink/Makefile b/flight/targets/OPLinkMini/Makefile
similarity index 100%
rename from flight/targets/OPLink/Makefile
rename to flight/targets/OPLinkMini/Makefile
diff --git a/flight/targets/OPLink/System/inc/FreeRTOSConfig.h b/flight/targets/OPLinkMini/System/inc/FreeRTOSConfig.h
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/inc/FreeRTOSConfig.h
rename to flight/targets/OPLinkMini/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/OPLink/System/inc/openpilot.h b/flight/targets/OPLinkMini/System/inc/openpilot.h
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/inc/openpilot.h
rename to flight/targets/OPLinkMini/System/inc/openpilot.h
diff --git a/flight/targets/OPLink/System/inc/pios_board_posix.h b/flight/targets/OPLinkMini/System/inc/pios_board_posix.h
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/inc/pios_board_posix.h
rename to flight/targets/OPLinkMini/System/inc/pios_board_posix.h
diff --git a/flight/targets/OPLink/System/inc/pios_config.h b/flight/targets/OPLinkMini/System/inc/pios_config.h
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/inc/pios_config.h
rename to flight/targets/OPLinkMini/System/inc/pios_config.h
diff --git a/flight/targets/OPLink/System/inc/pios_config_posix.h b/flight/targets/OPLinkMini/System/inc/pios_config_posix.h
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/inc/pios_config_posix.h
rename to flight/targets/OPLinkMini/System/inc/pios_config_posix.h
diff --git a/flight/targets/OPLink/System/inc/pios_usb_board_data.h b/flight/targets/OPLinkMini/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/OPLink/System/inc/pios_usb_board_data.h
rename to flight/targets/OPLinkMini/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/OPLink/System/oplink.c b/flight/targets/OPLinkMini/System/oplink.c
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/oplink.c
rename to flight/targets/OPLinkMini/System/oplink.c
diff --git a/flight/targets/OPLink/System/pios_board.c b/flight/targets/OPLinkMini/System/pios_board.c
similarity index 100%
rename from flight/targets/OPLink/System/pios_board.c
rename to flight/targets/OPLinkMini/System/pios_board.c
diff --git a/flight/targets/OPLink/System/pios_board_posix.c b/flight/targets/OPLinkMini/System/pios_board_posix.c
old mode 100755
new mode 100644
similarity index 100%
rename from flight/targets/OPLink/System/pios_board_posix.c
rename to flight/targets/OPLinkMini/System/pios_board_posix.c
diff --git a/flight/targets/OPLink/System/pios_usb_board_data.c b/flight/targets/OPLinkMini/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/OPLink/System/pios_usb_board_data.c
rename to flight/targets/OPLinkMini/System/pios_usb_board_data.c
diff --git a/flight/targets/board_hw_defs/oplink/board_hw_defs.c b/flight/targets/board_hw_defs/oplinkmini/board_hw_defs.c
similarity index 100%
rename from flight/targets/board_hw_defs/oplink/board_hw_defs.c
rename to flight/targets/board_hw_defs/oplinkmini/board_hw_defs.c
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 1be9aa1ec..bcaed2265 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -565,7 +565,7 @@ bool UploaderGadgetWidget::autoUpdate()
     emit autoUpdateSignal(LOADING_FW,QVariant());
     switch (dfu->devices[0].ID) {
     case 0x301:
-        filename = "fw_pipxtreme";
+        filename = "fw_oplinkmini";
         break;
     case 0x401:
     case 0x402:
diff --git a/make/boards/oplink/board-info.mk b/make/boards/oplinkmini/board-info.mk
similarity index 95%
rename from make/boards/oplink/board-info.mk
rename to make/boards/oplinkmini/board-info.mk
index fa1d627a3..28dd7641e 100644
--- a/make/boards/oplink/board-info.mk
+++ b/make/boards/oplinkmini/board-info.mk
@@ -5,7 +5,7 @@ HW_TYPE             := 0x01
 
 MCU                 := cortex-m3
 CHIP                := STM32F103CBT
-BOARD               := STM32103CB_OPLINK
+BOARD               := STM32103CB_OPLINKMINI
 MODEL               := MD
 MODEL_SUFFIX        := _PX
 

From fdd0ed39e0fccc50205951dd7044dd77916362c3 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 13 Apr 2013 00:25:18 +0300
Subject: [PATCH 090/125] OP-896: remove old board configs (ESC, INS,
 OpenPilot)

---
 flight/PiOS/Boards/STM3210E_OP.h    | 334 ----------------------------
 flight/PiOS/Boards/pios_board.h     |  22 +-
 make/boards/esc/board-info.mk       |  20 --
 make/boards/ins/board-info.mk       |  23 --
 make/boards/openpilot/board-info.mk |  20 --
 5 files changed, 9 insertions(+), 410 deletions(-)
 delete mode 100644 flight/PiOS/Boards/STM3210E_OP.h
 delete mode 100755 make/boards/esc/board-info.mk
 delete mode 100644 make/boards/ins/board-info.mk
 delete mode 100644 make/boards/openpilot/board-info.mk

diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h
deleted file mode 100644
index 5ffb75d6e..000000000
--- a/flight/PiOS/Boards/STM3210E_OP.h
+++ /dev/null
@@ -1,334 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotCore OpenPilot Core
- * @{
- * @file       pios_board.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-#ifndef STM3210E_OP_H_
-#define STM3210E_OP_H_
-
-
-
-//------------------------
-// Timers and Channels Used
-//------------------------
-/*
-Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
-------+-----------+-----------+-----------+----------
-TIM1  | RC In 3   | RC In 6   | RC In 5   |
-TIM2  | --------------- PIOS_DELAY -----------------
-TIM3  | RC In 7   | RC In 8   | RC In 1   | RC In 2
-TIM4  | Servo 1   | Servo 2   | Servo 3   | Servo 4
-TIM5  | RC In 4   |           |           |
-TIM6  | ----------- PIOS_PWM (Supervisor) ----------
-TIM7  |           |           |           |
-TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
-------+-----------+-----------+-----------+----------
-*/
-
-//------------------------
-// DMA Channels Used
-//------------------------
-/* Channel 1  - ADC                             */
-/* Channel 2  - SPI1 RX                         */
-/* Channel 3  - SPI1 TX                         */
-/* Channel 4  - SPI2 RX                         */
-/* Channel 5  - SPI2 TX                         */
-/* Channel 6  -                                 */
-/* Channel 7  -                                 */
-/* Channel 8  -                                 */
-/* Channel 9  -                                 */
-/* Channel 10 -                                 */
-/* Channel 11 -                                 */
-/* Channel 12 -                                 */
-
-//------------------------
-// BOOTLOADER_SETTINGS
-//------------------------
-#define BOARD_READABLE	TRUE
-#define BOARD_WRITABLE	TRUE
-#define MAX_DEL_RETRYS	3
-
-//------------------------
-// WATCHDOG_SETTINGS
-//------------------------
-#define PIOS_WATCHDOG_TIMEOUT 250
-#define PIOS_WDG_REGISTER BKP_DR4
-#define PIOS_WDG_ACTUATOR        0x0001
-#define PIOS_WDG_STABILIZATION   0x0002
-#define PIOS_WDG_AHRS            0x0004
-#define PIOS_WDG_MANUAL          0x0008
-
-//------------------------
-// TELEMETRY 
-//------------------------
-#define TELEM_QUEUE_SIZE         20
-#define PIOS_TELEM_STACK_SIZE    624
-
-//------------------------
-// PIOS_LED
-//------------------------
-#define PIOS_LED_HEARTBEAT	0
-#define PIOS_LED_ALARM		1
-
-//------------------------
-// PIOS_SPI
-// See also pios_board.c
-//------------------------
-#define PIOS_SPI_MAX_DEVS                       2
-
-//------------------------
-// PIOS_I2C
-// See also pios_board.c
-//------------------------
-#define PIOS_I2C_MAX_DEVS			1
-extern uint32_t pios_i2c_main_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_main_adapter_id)
-#define PIOS_I2C_ESC_ADAPTER			(pios_i2c_main_adapter_id)
-#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_main_adapter_id)
-
-//------------------------
-// PIOS_BMP085
-//------------------------
-#define PIOS_BMP085_HAS_GPIOS
-#define PIOS_BMP085_EOC_GPIO_PORT               GPIOC
-#define PIOS_BMP085_EOC_GPIO_PIN                GPIO_Pin_15
-#define PIOS_BMP085_EOC_PORT_SOURCE             GPIO_PortSourceGPIOC
-#define PIOS_BMP085_EOC_PIN_SOURCE              GPIO_PinSource15
-#define PIOS_BMP085_EOC_CLK                     RCC_APB2Periph_GPIOC
-#define PIOS_BMP085_EOC_EXTI_LINE               EXTI_Line15
-#define PIOS_BMP085_EOC_IRQn                    EXTI15_10_IRQn
-#define PIOS_BMP085_EOC_PRIO                    PIOS_IRQ_PRIO_LOW
-#define PIOS_BMP085_XCLR_GPIO_PORT              GPIOC        // Not actually connected on OP mainboard
-#define PIOS_BMP085_XCLR_GPIO_PIN               GPIO_Pin_14  // Not actually connected on OP mainboard
-//#define PIOS_BMP085_OVERSAMPLING                2
-#define PIOS_BMP085_OVERSAMPLING                3
-
-//-------------------------
-// PIOS_USART
-//
-// See also pios_board.c
-//-------------------------
-#define PIOS_USART_MAX_DEVS             3
-
-//-------------------------
-// PIOS_COM
-//
-// See also pios_board.c
-//-------------------------
-#define PIOS_COM_MAX_DEVS               4
-
-extern uint32_t pios_com_telem_rf_id;
-#define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
-
-extern uint32_t pios_com_gps_id;
-#define PIOS_COM_GPS                    (pios_com_gps_id)
-
-extern uint32_t pios_com_telem_usb_id;
-#define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
-
-#ifdef PIOS_ENABLE_AUX_UART
-extern uint32_t pios_com_aux_id;
-#define PIOS_COM_AUX                    (pios_com_aux_id)
-#define PIOS_COM_DEBUG                  PIOS_COM_AUX
-#endif
-
-//-------------------------
-// System Settings
-//-------------------------
-#define PIOS_MASTER_CLOCK                       72000000
-#define PIOS_PERIPHERAL_CLOCK                   (PIOS_MASTER_CLOCK / 2)
-
-//-------------------------
-// Interrupt Priorities
-//-------------------------
-#define PIOS_IRQ_PRIO_LOW                       12              // lower than RTOS
-#define PIOS_IRQ_PRIO_MID                       8               // higher than RTOS
-#define PIOS_IRQ_PRIO_HIGH                      5               // for SPI, ADC, I2C etc...
-#define PIOS_IRQ_PRIO_HIGHEST                   4               // for USART etc...
-
-//------------------------
-// PIOS_RCVR
-// See also pios_board.c
-//------------------------
-#define PIOS_RCVR_MAX_DEVS			1
-#define PIOS_RCVR_MAX_CHANNELS			12
-
-//-------------------------
-// Receiver PPM input
-//-------------------------
-#define PIOS_PPM_MAX_DEVS			1
-#define PIOS_PPM_NUM_INPUTS                     12
-
-//-------------------------
-// Receiver PWM input
-//-------------------------
-#define PIOS_PWM_MAX_DEVS			1
-#define PIOS_PWM_NUM_INPUTS                     8
-
-//-------------------------
-// Receiver DSM input
-//-------------------------
-#define PIOS_DSM_MAX_DEVS			1
-#define PIOS_DSM_NUM_INPUTS			12
-
-//-------------------------
-// Receiver S.Bus input
-//-------------------------
-#define PIOS_SBUS_MAX_DEVS			0
-#define PIOS_SBUS_NUM_INPUTS			(16+2)
-
-//-------------------------
-// Servo outputs
-//-------------------------
-#define PIOS_SERVO_UPDATE_HZ                    50
-#define PIOS_SERVOS_INITIAL_POSITION            0 /* dont want to start motors, have no pulse till settings loaded */
-
-//--------------------------
-// Timer controller settings
-//--------------------------
-#define PIOS_TIM_MAX_DEVS			3
-
-//-------------------------
-// ADC
-// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
-// PIOS_ADC_PinGet(1) = Power Sensor (Current)
-// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
-// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
-// PIOS_ADC_PinGet(4) = Auxiliary Input 1
-// PIOS_ADC_PinGet(5) = Auxiliary Input 2
-// PIOS_ADC_PinGet(6) = Auxiliary Input 3
-//-------------------------
-//#define PIOS_ADC_OVERSAMPLING_RATE            1
-#define PIOS_ADC_USE_TEMP_SENSOR                1
-#define PIOS_ADC_TEMP_SENSOR_ADC                ADC1
-#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL        1
-#define PIOS_ADC_PIN1_GPIO_PORT                 GPIOA                   // PA1 (Power Sense - Voltage)
-#define PIOS_ADC_PIN1_GPIO_PIN                  GPIO_Pin_1              // ADC123_IN1
-#define PIOS_ADC_PIN1_GPIO_CHANNEL              ADC_Channel_1
-#define PIOS_ADC_PIN1_ADC                       ADC1
-#define PIOS_ADC_PIN1_ADC_NUMBER                2
-#define PIOS_ADC_PIN2_GPIO_PORT                 GPIOC                   // PC3 (Power Sense - Current)
-#define PIOS_ADC_PIN2_GPIO_PIN                  GPIO_Pin_3              // ADC123_IN13
-#define PIOS_ADC_PIN2_GPIO_CHANNEL              ADC_Channel_13
-#define PIOS_ADC_PIN2_ADC                       ADC2
-#define PIOS_ADC_PIN2_ADC_NUMBER                1
-#define PIOS_ADC_PIN3_GPIO_PORT                 GPIOC                   // PC5 (Onboard 5v Sensor) PC5
-#define PIOS_ADC_PIN3_GPIO_PIN                  GPIO_Pin_5              // ADC12_IN15
-#define PIOS_ADC_PIN3_GPIO_CHANNEL              ADC_Channel_15
-#define PIOS_ADC_PIN3_ADC                       ADC2
-#define PIOS_ADC_PIN3_ADC_NUMBER                2
-#define PIOS_ADC_PIN4_GPIO_PORT                 GPIOC                   // PC0 (AUX 1)
-#define PIOS_ADC_PIN4_GPIO_PIN                  GPIO_Pin_0              // ADC123_IN10
-#define PIOS_ADC_PIN4_GPIO_CHANNEL              ADC_Channel_10
-#define PIOS_ADC_PIN4_ADC                       ADC1
-#define PIOS_ADC_PIN4_ADC_NUMBER                3
-#define PIOS_ADC_PIN5_GPIO_PORT                 GPIOC                   // PC1 (AUX 2)
-#define PIOS_ADC_PIN5_GPIO_PIN                  GPIO_Pin_1              // ADC123_IN11
-#define PIOS_ADC_PIN5_GPIO_CHANNEL              ADC_Channel_11
-#define PIOS_ADC_PIN5_ADC                       ADC2
-#define PIOS_ADC_PIN5_ADC_NUMBER                3
-#define PIOS_ADC_PIN6_GPIO_PORT                 GPIOC                   // PC2 (AUX 3)
-#define PIOS_ADC_PIN6_GPIO_PIN                  GPIO_Pin_2              // ADC123_IN12
-#define PIOS_ADC_PIN6_GPIO_CHANNEL              ADC_Channel_12
-#define PIOS_ADC_PIN6_ADC                       ADC1
-#define PIOS_ADC_PIN6_ADC_NUMBER                4
-#define PIOS_ADC_NUM_PINS                       6
-#define PIOS_ADC_PORTS                          { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
-#define PIOS_ADC_PINS                           { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
-#define PIOS_ADC_CHANNELS                       { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
-#define PIOS_ADC_MAPPING                        { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
-#define PIOS_ADC_CHANNEL_MAPPING                { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
-#define PIOS_ADC_NUM_CHANNELS                   (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
-#define PIOS_ADC_NUM_ADC_CHANNELS               2
-#define PIOS_ADC_USE_ADC2                       1
-#define PIOS_ADC_CLOCK_FUNCTION                 RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
-#define PIOS_ADC_ADCCLK                         RCC_PCLK2_Div8
-                                                /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
-                                                /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
-                                                /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
-                                                /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
-#define PIOS_ADC_SAMPLE_TIME                    ADC_SampleTime_239Cycles5
-                                                /* Sample time: */
-                                                /* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
-                                                /* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
-                                                /* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
-#define PIOS_ADC_IRQ_PRIO                       PIOS_IRQ_PRIO_LOW
-#define PIOS_ADC_MAX_OVERSAMPLING               10
-#define PIOS_ADC_RATE                           (72.0e6 / 1 / 8 / 252 / (PIOS_ADC_NUM_ADC_CHANNELS >> PIOS_ADC_USE_ADC2))
-
-//-------------------------
-// GPIO
-//-------------------------
-#define PIOS_GPIO_1_PORT                        GPIOC
-#define PIOS_GPIO_1_PIN                         GPIO_Pin_0
-#define PIOS_GPIO_1_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_2_PORT                        GPIOC
-#define PIOS_GPIO_2_PIN                         GPIO_Pin_1
-#define PIOS_GPIO_2_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_3_PORT                        GPIOC
-#define PIOS_GPIO_3_PIN                         GPIO_Pin_2
-#define PIOS_GPIO_3_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_4_PORT                        GPIOD
-#define PIOS_GPIO_4_PIN                         GPIO_Pin_2
-#define PIOS_GPIO_4_GPIO_CLK                    RCC_APB2Periph_GPIOD
-#define PIOS_GPIO_PORTS                         { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
-#define PIOS_GPIO_PINS                          { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
-#define PIOS_GPIO_CLKS                          { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
-#define PIOS_GPIO_NUM                           4
-
-//-------------------------
-// USB
-//-------------------------
-#define PIOS_USB_ENABLED                        1
-#define PIOS_USB_DETECT_GPIO_PORT               GPIOC
-#define PIOS_USB_MAX_DEVS                       1
-#define PIOS_USB_HID_MAX_DEVS                   1
-#define PIOS_USB_DETECT_GPIO_PIN                GPIO_Pin_4
-
-/**
- * glue macros for file IO
- * STM32 uses DOSFS for file IO
- */
-#define PIOS_FOPEN_READ(filename,file)  DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
-
-#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
-
-#define PIOS_FREAD(file,bufferadr,length,resultadr)     DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
-
-#define PIOS_FWRITE(file,bufferadr,length,resultadr)    DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
-
-#define PIOS_FCLOSE(file)               DFS_Close(&file)
-
-#define PIOS_FUNLINK(filename)          DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
-
-
-
-#endif /* STM3210E_OP_H_ */
-/**
- * @}
- * @}
- */
diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index 87e227060..ce6acfdbd 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -1,24 +1,20 @@
-#ifndef PIOS_BOARD_H_
-#define PIOS_BOARD_H_
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
-#ifdef USE_STM3210E_OP
-#include "STM3210E_OP.h"
+#if USE_STM32103CB_CC_Rev1
+#include "STM32103CB_CC_Rev1.h"
 #elif USE_STM32103CB_OPLINKMINI
 #include "STM32103CB_OPLinkMini_Rev1.h"
-#elif USE_STM32103CB_CC_Rev1
-#include "STM32103CB_CC_Rev1.h"
-#elif USE_STM32F2xx_INS
-#include "STM32F2xx_INS.h"
-#elif USE_STM32F4xx_OP
-#include "STM32F4xx_Revolution.h"
-#elif USE_STM32F4xx_OSD
-#include "STM32F4xx_OSD.h"
 #elif USE_STM32F4xx_RM
 #include "STM32F4xx_RevoMini.h"
+#elif USE_STM32F4xx_OSD
+#include "STM32F4xx_OSD.h"
+#elif USE_STM32F4xx_OP
+#include "STM32F4xx_Revolution.h"
 #elif USE_SIM_POSIX
 #include "sim_posix.h"
 #else
 #error Board definition has not been provided.
 #endif
 
-#endif /* PIOS_BOARD_H_ */
+#endif /* PIOS_BOARD_H */
diff --git a/make/boards/esc/board-info.mk b/make/boards/esc/board-info.mk
deleted file mode 100755
index 00c5f6bc0..000000000
--- a/make/boards/esc/board-info.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-BOARD_TYPE          := 0x08
-BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x01
-HW_TYPE             := 0x01
-
-MCU                 := cortex-m3
-CHIP                := STM32F103CBT
-BOARD               := STM32F103CB_ESC_Rev1
-MODEL               := MD
-MODEL_SUFFIX        :=
-
-OPENOCD_CONFIG      := stm32f1x.cfg 
-
-# Note: These must match the values in link_$(BOARD)_memory.ld
-BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
-BL_BANK_SIZE        := 0x00003000  # Should include BD_INFO region
-FW_BANK_BASE        := 0x08003000  # Start of firmware flash
-FW_BANK_SIZE        := 0x0001D000  # Should include FW_DESC_SIZE
-
-FW_DESC_SIZE        := 0x00000064
diff --git a/make/boards/ins/board-info.mk b/make/boards/ins/board-info.mk
deleted file mode 100644
index d36e054cc..000000000
--- a/make/boards/ins/board-info.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-BOARD_TYPE          := 0x05
-BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x00
-HW_TYPE             := 0x00
-
-MCU                 := cortex-m4
-CHIP                := STM32F205RGT
-BOARD               := STM32F2xx_INS
-MODEL               := HD
-MODEL_SUFFIX        := 
-
-OPENOCD_CONFIG      := stm32f4xx.cfg
-
-# Note: These must match the values in link_$(BOARD)_memory.ld
-BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
-BL_BANK_SIZE        := 0x00008000  # Should include BD_INFO region
-FW_BANK_BASE        := 0x08008000  # Start of firmware flash
-FW_BANK_SIZE        := 0x0001E000  # Should include FW_DESC_SIZE
-
-FW_DESC_SIZE        := 0x00000064
-
-OSCILLATOR_FREQ     := 8000000
-SYSCLK_FREQ         := 168000000
diff --git a/make/boards/openpilot/board-info.mk b/make/boards/openpilot/board-info.mk
deleted file mode 100644
index e98ac4480..000000000
--- a/make/boards/openpilot/board-info.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-BOARD_TYPE          := 0x01
-BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x01
-HW_TYPE             := 0x00
-
-MCU                 := cortex-m3
-CHIP                := STM32F103RET
-BOARD               := STM3210E_OP
-MODEL               := HD
-MODEL_SUFFIX        := _OP
-
-OPENOCD_CONFIG      := stm32f1x.cfg
-
-# Note: These must match the values in link_$(BOARD)_memory.ld
-BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
-BL_BANK_SIZE        := 0x00005000  # Should include BD_INFO region
-FW_BANK_BASE        := 0x08005000  # Start of firmware flash
-FW_BANK_SIZE        := 0x0007B000  # Should include FW_DESC_SIZE
-
-FW_DESC_SIZE        := 0x00000064

From 6afbef01ebe5f7efe7bf498ffc5977f6602f1564 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 13 Apr 2013 00:28:44 +0200
Subject: [PATCH 091/125] OP-896: rename Revo to SensorTest

---
 Makefile                                                  | 8 ++++----
 .../{STM32F4xx_Revolution.h => STM32F4xx_SensorTest.h}    | 0
 flight/PiOS/Boards/pios_board.h                           | 2 +-
 .../Source/{revolution => sensortest}/system_stm32f4xx.c  | 0
 .../Bootloaders/{Revolution => SensorTest}/Makefile       | 0
 .../Bootloaders/{Revolution => SensorTest}/inc/common.h   | 0
 .../Bootloaders/{Revolution => SensorTest}/inc/op_dfu.h   | 0
 .../{Revolution => SensorTest}/inc/pios_config.h          | 0
 .../{Revolution => SensorTest}/inc/pios_usb_board_data.h  | 0
 .../targets/Bootloaders/{Revolution => SensorTest}/main.c | 0
 .../Bootloaders/{Revolution => SensorTest}/op_dfu.c       | 0
 .../Bootloaders/{Revolution => SensorTest}/pios_board.c   | 0
 .../{Revolution => SensorTest}/pios_usb_board_data.c      | 0
 flight/targets/{Revolution => SensorTest}/Makefile        | 0
 flight/targets/{Revolution => SensorTest}/Makefile.osx    | 0
 .../System/cm3_fault_handlers.c                           | 0
 .../targets/{Revolution => SensorTest}/System/dcc_stdio.c | 0
 .../System/inc/FreeRTOSConfig.h                           | 0
 .../{Revolution => SensorTest}/System/inc/dcc_stdio.h     | 0
 .../{Revolution => SensorTest}/System/inc/openpilot.h     | 0
 .../System/inc/pios_board_sim.h                           | 0
 .../{Revolution => SensorTest}/System/inc/pios_config.h   | 0
 .../System/inc/pios_config_sim.h                          | 0
 .../System/inc/pios_usb_board_data.h                      | 0
 .../{Revolution => SensorTest}/System/pios_board.c        | 0
 .../{Revolution => SensorTest}/System/pios_board_sim.c    | 0
 .../System/pios_usb_board_data.c                          | 0
 .../{Revolution => SensorTest}/System/revolution.c        | 0
 flight/targets/{Revolution => SensorTest}/UAVObjects.inc  | 0
 .../{revolution => sensortest}/board_hw_defs.c            | 0
 .../src/plugins/uploader/uploadergadgetwidget.cpp         | 2 +-
 make/boards/{revolution => sensortest}/board-info.mk      | 0
 32 files changed, 6 insertions(+), 6 deletions(-)
 rename flight/PiOS/Boards/{STM32F4xx_Revolution.h => STM32F4xx_SensorTest.h} (100%)
 rename flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/{revolution => sensortest}/system_stm32f4xx.c (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/Makefile (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/main.c (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{Revolution => SensorTest}/pios_usb_board_data.c (100%)
 rename flight/targets/{Revolution => SensorTest}/Makefile (100%)
 rename flight/targets/{Revolution => SensorTest}/Makefile.osx (100%)
 rename flight/targets/{Revolution => SensorTest}/System/cm3_fault_handlers.c (100%)
 rename flight/targets/{Revolution => SensorTest}/System/dcc_stdio.c (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/openpilot.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/pios_board_sim.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/pios_config.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/pios_config_sim.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Revolution => SensorTest}/System/pios_board.c (100%)
 rename flight/targets/{Revolution => SensorTest}/System/pios_board_sim.c (100%)
 rename flight/targets/{Revolution => SensorTest}/System/pios_usb_board_data.c (100%)
 rename flight/targets/{Revolution => SensorTest}/System/revolution.c (100%)
 rename flight/targets/{Revolution => SensorTest}/UAVObjects.inc (100%)
 rename flight/targets/board_hw_defs/{revolution => sensortest}/board_hw_defs.c (100%)
 rename make/boards/{revolution => sensortest}/board-info.mk (100%)

diff --git a/Makefile b/Makefile
index c175ccd40..1c4487291 100644
--- a/Makefile
+++ b/Makefile
@@ -198,13 +198,13 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol oplinkmini revolution revomini osd simposix
+ALL_BOARDS    := coptercontrol oplinkmini sensortest revomini osd simposix
 ALL_BOARDS_BU := coptercontrol oplinkmini simposix
 
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl
 oplinkmini_friendly    := OPLinkMini
-revolution_friendly    := Revolution
+sensortest_friendly    := SensorTest
 revomini_friendly      := RevoMini
 osd_friendly           := OSD
 simposix_friendly      := SimPosix
@@ -212,7 +212,7 @@ simposix_friendly      := SimPosix
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
 oplinkmini_short       := 'oplm'
-revolution_short       := 'revo'
+sensortest_short       := 'stst'
 revomini_short         := 'rm  '
 osd_short              := 'osd '
 simposix_short         := 'posx'
@@ -441,7 +441,7 @@ sim_osx: sim_osx_elf
 sim_osx_%: uavobjects_flight
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
+		-C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 
 ##############################
 #
diff --git a/flight/PiOS/Boards/STM32F4xx_Revolution.h b/flight/PiOS/Boards/STM32F4xx_SensorTest.h
similarity index 100%
rename from flight/PiOS/Boards/STM32F4xx_Revolution.h
rename to flight/PiOS/Boards/STM32F4xx_SensorTest.h
diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index ce6acfdbd..25757457a 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -10,7 +10,7 @@
 #elif USE_STM32F4xx_OSD
 #include "STM32F4xx_OSD.h"
 #elif USE_STM32F4xx_OP
-#include "STM32F4xx_Revolution.h"
+#include "STM32F4xx_SensorTest.h"
 #elif USE_SIM_POSIX
 #include "sim_posix.h"
 #else
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/sensortest/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/sensortest/system_stm32f4xx.c
diff --git a/flight/targets/Bootloaders/Revolution/Makefile b/flight/targets/Bootloaders/SensorTest/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/Makefile
rename to flight/targets/Bootloaders/SensorTest/Makefile
diff --git a/flight/targets/Bootloaders/Revolution/inc/common.h b/flight/targets/Bootloaders/SensorTest/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/common.h
rename to flight/targets/Bootloaders/SensorTest/inc/common.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/op_dfu.h b/flight/targets/Bootloaders/SensorTest/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/op_dfu.h
rename to flight/targets/Bootloaders/SensorTest/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/pios_config.h b/flight/targets/Bootloaders/SensorTest/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/pios_config.h
rename to flight/targets/Bootloaders/SensorTest/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/SensorTest/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/SensorTest/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/Revolution/main.c b/flight/targets/Bootloaders/SensorTest/main.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/main.c
rename to flight/targets/Bootloaders/SensorTest/main.c
diff --git a/flight/targets/Bootloaders/Revolution/op_dfu.c b/flight/targets/Bootloaders/SensorTest/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/op_dfu.c
rename to flight/targets/Bootloaders/SensorTest/op_dfu.c
diff --git a/flight/targets/Bootloaders/Revolution/pios_board.c b/flight/targets/Bootloaders/SensorTest/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/pios_board.c
rename to flight/targets/Bootloaders/SensorTest/pios_board.c
diff --git a/flight/targets/Bootloaders/Revolution/pios_usb_board_data.c b/flight/targets/Bootloaders/SensorTest/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/pios_usb_board_data.c
rename to flight/targets/Bootloaders/SensorTest/pios_usb_board_data.c
diff --git a/flight/targets/Revolution/Makefile b/flight/targets/SensorTest/Makefile
similarity index 100%
rename from flight/targets/Revolution/Makefile
rename to flight/targets/SensorTest/Makefile
diff --git a/flight/targets/Revolution/Makefile.osx b/flight/targets/SensorTest/Makefile.osx
similarity index 100%
rename from flight/targets/Revolution/Makefile.osx
rename to flight/targets/SensorTest/Makefile.osx
diff --git a/flight/targets/Revolution/System/cm3_fault_handlers.c b/flight/targets/SensorTest/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/Revolution/System/cm3_fault_handlers.c
rename to flight/targets/SensorTest/System/cm3_fault_handlers.c
diff --git a/flight/targets/Revolution/System/dcc_stdio.c b/flight/targets/SensorTest/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/Revolution/System/dcc_stdio.c
rename to flight/targets/SensorTest/System/dcc_stdio.c
diff --git a/flight/targets/Revolution/System/inc/FreeRTOSConfig.h b/flight/targets/SensorTest/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/FreeRTOSConfig.h
rename to flight/targets/SensorTest/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/Revolution/System/inc/dcc_stdio.h b/flight/targets/SensorTest/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/dcc_stdio.h
rename to flight/targets/SensorTest/System/inc/dcc_stdio.h
diff --git a/flight/targets/Revolution/System/inc/openpilot.h b/flight/targets/SensorTest/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/openpilot.h
rename to flight/targets/SensorTest/System/inc/openpilot.h
diff --git a/flight/targets/Revolution/System/inc/pios_board_sim.h b/flight/targets/SensorTest/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_board_sim.h
rename to flight/targets/SensorTest/System/inc/pios_board_sim.h
diff --git a/flight/targets/Revolution/System/inc/pios_config.h b/flight/targets/SensorTest/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_config.h
rename to flight/targets/SensorTest/System/inc/pios_config.h
diff --git a/flight/targets/Revolution/System/inc/pios_config_sim.h b/flight/targets/SensorTest/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_config_sim.h
rename to flight/targets/SensorTest/System/inc/pios_config_sim.h
diff --git a/flight/targets/Revolution/System/inc/pios_usb_board_data.h b/flight/targets/SensorTest/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_usb_board_data.h
rename to flight/targets/SensorTest/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/Revolution/System/pios_board.c b/flight/targets/SensorTest/System/pios_board.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_board.c
rename to flight/targets/SensorTest/System/pios_board.c
diff --git a/flight/targets/Revolution/System/pios_board_sim.c b/flight/targets/SensorTest/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_board_sim.c
rename to flight/targets/SensorTest/System/pios_board_sim.c
diff --git a/flight/targets/Revolution/System/pios_usb_board_data.c b/flight/targets/SensorTest/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_usb_board_data.c
rename to flight/targets/SensorTest/System/pios_usb_board_data.c
diff --git a/flight/targets/Revolution/System/revolution.c b/flight/targets/SensorTest/System/revolution.c
similarity index 100%
rename from flight/targets/Revolution/System/revolution.c
rename to flight/targets/SensorTest/System/revolution.c
diff --git a/flight/targets/Revolution/UAVObjects.inc b/flight/targets/SensorTest/UAVObjects.inc
similarity index 100%
rename from flight/targets/Revolution/UAVObjects.inc
rename to flight/targets/SensorTest/UAVObjects.inc
diff --git a/flight/targets/board_hw_defs/revolution/board_hw_defs.c b/flight/targets/board_hw_defs/sensortest/board_hw_defs.c
similarity index 100%
rename from flight/targets/board_hw_defs/revolution/board_hw_defs.c
rename to flight/targets/board_hw_defs/sensortest/board_hw_defs.c
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index bcaed2265..ef6786c8f 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -575,7 +575,7 @@ bool UploaderGadgetWidget::autoUpdate()
         filename = "fw_osd";
         break;
     case 0x902:
-        filename = "fw_revolution";
+        filename = "fw_sensortest";
         break;
     case 0x903:
         filename = "fw_revomini";
diff --git a/make/boards/revolution/board-info.mk b/make/boards/sensortest/board-info.mk
similarity index 100%
rename from make/boards/revolution/board-info.mk
rename to make/boards/sensortest/board-info.mk

From 399cafe7d7da0a11ce65beec41b87d7c7a6814d2 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sun, 14 Apr 2013 01:34:43 +0200
Subject: [PATCH 092/125] OP-896: rename RevoMini to Revolution

---
 Makefile                                              |  6 +++---
 flight/PiOS/Boards/STM32103CB_CC_Rev1.h               |  8 ++++----
 flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h       |  6 +++---
 flight/PiOS/Boards/STM32F4xx_OSD.h                    |  2 --
 .../{STM32F4xx_RevoMini.h => STM32F4xx_Revolution.h}  |  7 ++++---
 flight/PiOS/Boards/STM32F4xx_SensorTest.h             |  8 ++++----
 flight/PiOS/Boards/pios_board.h                       | 11 ++++++-----
 flight/PiOS/Boards/sim_posix.h                        |  9 ++++-----
 .../{revomini => revolution}/system_stm32f4xx.c       |  0
 .../Bootloaders/{RevoMini => Revolution}/Makefile     |  0
 .../Bootloaders/{RevoMini => Revolution}/inc/common.h |  0
 .../Bootloaders/{RevoMini => Revolution}/inc/op_dfu.h |  0
 .../{RevoMini => Revolution}/inc/pios_config.h        |  0
 .../inc/pios_usb_board_data.h                         |  0
 .../Bootloaders/{RevoMini => Revolution}/main.c       |  0
 .../Bootloaders/{RevoMini => Revolution}/op_dfu.c     |  0
 .../Bootloaders/{RevoMini => Revolution}/pios_board.c |  0
 .../{RevoMini => Revolution}/pios_usb_board_data.c    |  0
 flight/targets/{RevoMini => Revolution}/Makefile      |  0
 flight/targets/{RevoMini => Revolution}/Makefile.osx  |  0
 .../System/cm3_fault_handlers.c                       |  0
 .../{RevoMini => Revolution}/System/dcc_stdio.c       |  0
 .../System/inc/FreeRTOSConfig.h                       |  0
 .../{RevoMini => Revolution}/System/inc/dcc_stdio.h   |  0
 .../{RevoMini => Revolution}/System/inc/openpilot.h   |  0
 .../System/inc/pios_board_sim.h                       |  0
 .../{RevoMini => Revolution}/System/inc/pios_config.h |  0
 .../System/inc/pios_config_sim.h                      |  0
 .../System/inc/pios_usb_board_data.h                  |  0
 .../{RevoMini => Revolution}/System/pios_board.c      |  0
 .../{RevoMini => Revolution}/System/pios_board_sim.c  |  0
 .../System/pios_usb_board_data.c                      |  0
 .../{RevoMini => Revolution}/System/revolution.c      |  0
 .../targets/{RevoMini => Revolution}/UAVObjects.inc   |  0
 .../{revomini => revolution}/board_hw_defs.c          |  2 +-
 .../src/plugins/uploader/uploadergadgetwidget.cpp     |  2 +-
 make/boards/{revomini => revolution}/board-info.mk    |  0
 37 files changed, 30 insertions(+), 31 deletions(-)
 rename flight/PiOS/Boards/{STM32F4xx_RevoMini.h => STM32F4xx_Revolution.h} (99%)
 rename flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/{revomini => revolution}/system_stm32f4xx.c (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/Makefile (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/main.c (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{RevoMini => Revolution}/pios_usb_board_data.c (100%)
 rename flight/targets/{RevoMini => Revolution}/Makefile (100%)
 rename flight/targets/{RevoMini => Revolution}/Makefile.osx (100%)
 rename flight/targets/{RevoMini => Revolution}/System/cm3_fault_handlers.c (100%)
 rename flight/targets/{RevoMini => Revolution}/System/dcc_stdio.c (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/openpilot.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/pios_board_sim.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/pios_config.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/pios_config_sim.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{RevoMini => Revolution}/System/pios_board.c (100%)
 rename flight/targets/{RevoMini => Revolution}/System/pios_board_sim.c (100%)
 rename flight/targets/{RevoMini => Revolution}/System/pios_usb_board_data.c (100%)
 rename flight/targets/{RevoMini => Revolution}/System/revolution.c (100%)
 rename flight/targets/{RevoMini => Revolution}/UAVObjects.inc (100%)
 rename flight/targets/board_hw_defs/{revomini => revolution}/board_hw_defs.c (99%)
 rename make/boards/{revomini => revolution}/board-info.mk (100%)

diff --git a/Makefile b/Makefile
index 1c4487291..08974154b 100644
--- a/Makefile
+++ b/Makefile
@@ -198,14 +198,14 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol oplinkmini sensortest revomini osd simposix
+ALL_BOARDS    := coptercontrol oplinkmini sensortest revolution osd simposix
 ALL_BOARDS_BU := coptercontrol oplinkmini simposix
 
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl
 oplinkmini_friendly    := OPLinkMini
 sensortest_friendly    := SensorTest
-revomini_friendly      := RevoMini
+revolution_friendly    := Revolution
 osd_friendly           := OSD
 simposix_friendly      := SimPosix
 
@@ -213,7 +213,7 @@ simposix_friendly      := SimPosix
 coptercontrol_short    := 'cc  '
 oplinkmini_short       := 'oplm'
 sensortest_short       := 'stst'
-revomini_short         := 'rm  '
+revolution_short       := 'revo'
 osd_short              := 'osd '
 simposix_short         := 'posx'
 
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index b74476e16..0567e6622 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -23,9 +23,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-#ifndef STM32103CB_CC_H_
-#define STM32103CB_CC_H_
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
 //------------------------
 // Timers and Channels Used
@@ -275,4 +274,5 @@ extern uint32_t pios_com_debug_id;
 #define PIOS_USB_DETECT_GPIO_PORT               GPIOC
 #define PIOS_USB_MAX_DEVS                       1
 #define PIOS_USB_DETECT_GPIO_PIN                GPIO_Pin_15
-#endif /* STM32103CB_CC_H_ */
+
+#endif /* PIOS_BOARD_H */
diff --git a/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h b/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
index dcbfbcc9d..4bc0bc115 100644
--- a/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
@@ -23,8 +23,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef STM32103CB_OPLINKMINI_H
-#define STM32103CB_OPLINKMINI_H
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
 #define ADD_ONE_ADC
 
@@ -312,4 +312,4 @@ extern uint32_t pios_packet_handler;
 #define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
 #define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE
 
-#endif /* STM32103CB_OPLINKMINI_H */
+#endif /* PIOS_BOARD_H */
diff --git a/flight/PiOS/Boards/STM32F4xx_OSD.h b/flight/PiOS/Boards/STM32F4xx_OSD.h
index 3d4922401..88ab5c0d9 100644
--- a/flight/PiOS/Boards/STM32F4xx_OSD.h
+++ b/flight/PiOS/Boards/STM32F4xx_OSD.h
@@ -26,7 +26,6 @@
 #ifndef PIOS_BOARD_H
 #define PIOS_BOARD_H
 
-
 #include <stdbool.h>
 
 // *****************************************************************
@@ -292,5 +291,4 @@ extern uint32_t pios_i2c_flexiport_adapter_id;
 
 #define PIOS_FUNLINK(filename)          DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
 
-
 #endif /* PIOS_BOARD_H */
diff --git a/flight/PiOS/Boards/STM32F4xx_RevoMini.h b/flight/PiOS/Boards/STM32F4xx_Revolution.h
similarity index 99%
rename from flight/PiOS/Boards/STM32F4xx_RevoMini.h
rename to flight/PiOS/Boards/STM32F4xx_Revolution.h
index 31f880fac..f58ace784 100644
--- a/flight/PiOS/Boards/STM32F4xx_RevoMini.h
+++ b/flight/PiOS/Boards/STM32F4xx_Revolution.h
@@ -26,8 +26,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-#ifndef STM3210E_INS_H_
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
 #include <stdbool.h>
 
@@ -301,7 +301,8 @@ extern uint32_t pios_packet_handler;
 #define PIOS_USB_ENABLED                        1 /* Should remove all references to this */
 #define PIOS_USB_HID_MAX_DEVS                   1
 
-#endif /* STM3210E_INS_H_ */
+#endif /* PIOS_BOARD_H */
+
 /**
  * @}
  * @}
diff --git a/flight/PiOS/Boards/STM32F4xx_SensorTest.h b/flight/PiOS/Boards/STM32F4xx_SensorTest.h
index 98b306f76..e10c610ce 100644
--- a/flight/PiOS/Boards/STM32F4xx_SensorTest.h
+++ b/flight/PiOS/Boards/STM32F4xx_SensorTest.h
@@ -26,9 +26,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-#ifndef STM3210E_INS_H_
-#define STM3210E_INS_H_
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
 #include <stdbool.h>
 
@@ -263,7 +262,8 @@ extern uint32_t pios_com_vcp_id;
 #define PIOS_USB_ENABLED                        1 /* Should remove all references to this */
 #define PIOS_USB_HID_MAX_DEVS                   1
 
-#endif /* STM3210E_INS_H_ */
+#endif /* PIOS_BOARD_H */
+
 /**
  * @}
  * @}
diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
index 25757457a..f79df0ded 100644
--- a/flight/PiOS/Boards/pios_board.h
+++ b/flight/PiOS/Boards/pios_board.h
@@ -1,12 +1,15 @@
-#ifndef PIOS_BOARD_H
-#define PIOS_BOARD_H
+/*
+ * Generic pios_board.h header.
+ * There is no #ifdef guard here since only one of headers should be included.
+ * All they share the same guard define to prevent double inclusion.
+ */
 
 #if USE_STM32103CB_CC_Rev1
 #include "STM32103CB_CC_Rev1.h"
 #elif USE_STM32103CB_OPLINKMINI
 #include "STM32103CB_OPLinkMini_Rev1.h"
 #elif USE_STM32F4xx_RM
-#include "STM32F4xx_RevoMini.h"
+#include "STM32F4xx_Revolution.h"
 #elif USE_STM32F4xx_OSD
 #include "STM32F4xx_OSD.h"
 #elif USE_STM32F4xx_OP
@@ -16,5 +19,3 @@
 #else
 #error Board definition has not been provided.
 #endif
-
-#endif /* PIOS_BOARD_H */
diff --git a/flight/PiOS/Boards/sim_posix.h b/flight/PiOS/Boards/sim_posix.h
index 6fbe14551..196124ec6 100644
--- a/flight/PiOS/Boards/sim_posix.h
+++ b/flight/PiOS/Boards/sim_posix.h
@@ -26,10 +26,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-#ifndef SIM_POSIX_H_
-#define SIM_POSIX_H_
-
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
 
 /**
  * glue macros for file IO
@@ -256,7 +254,8 @@ extern uint32_t pios_com_vcp_id;
 //#define PIOS_USB_ENABLED                        1 /* Should remove all references to this */
 //#define PIOS_USB_HID_MAX_DEVS                   1
 
-#endif /* SIM_POSIX_H_ */
+#endif /* PIOS_BOARD_H */
+
 /**
  * @}
  * @}
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revomini/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revomini/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
diff --git a/flight/targets/Bootloaders/RevoMini/Makefile b/flight/targets/Bootloaders/Revolution/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/Makefile
rename to flight/targets/Bootloaders/Revolution/Makefile
diff --git a/flight/targets/Bootloaders/RevoMini/inc/common.h b/flight/targets/Bootloaders/Revolution/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/inc/common.h
rename to flight/targets/Bootloaders/Revolution/inc/common.h
diff --git a/flight/targets/Bootloaders/RevoMini/inc/op_dfu.h b/flight/targets/Bootloaders/Revolution/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/inc/op_dfu.h
rename to flight/targets/Bootloaders/Revolution/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/RevoMini/inc/pios_config.h b/flight/targets/Bootloaders/Revolution/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/inc/pios_config.h
rename to flight/targets/Bootloaders/Revolution/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/RevoMini/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/RevoMini/main.c b/flight/targets/Bootloaders/Revolution/main.c
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/main.c
rename to flight/targets/Bootloaders/Revolution/main.c
diff --git a/flight/targets/Bootloaders/RevoMini/op_dfu.c b/flight/targets/Bootloaders/Revolution/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/op_dfu.c
rename to flight/targets/Bootloaders/Revolution/op_dfu.c
diff --git a/flight/targets/Bootloaders/RevoMini/pios_board.c b/flight/targets/Bootloaders/Revolution/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/pios_board.c
rename to flight/targets/Bootloaders/Revolution/pios_board.c
diff --git a/flight/targets/Bootloaders/RevoMini/pios_usb_board_data.c b/flight/targets/Bootloaders/Revolution/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/RevoMini/pios_usb_board_data.c
rename to flight/targets/Bootloaders/Revolution/pios_usb_board_data.c
diff --git a/flight/targets/RevoMini/Makefile b/flight/targets/Revolution/Makefile
similarity index 100%
rename from flight/targets/RevoMini/Makefile
rename to flight/targets/Revolution/Makefile
diff --git a/flight/targets/RevoMini/Makefile.osx b/flight/targets/Revolution/Makefile.osx
similarity index 100%
rename from flight/targets/RevoMini/Makefile.osx
rename to flight/targets/Revolution/Makefile.osx
diff --git a/flight/targets/RevoMini/System/cm3_fault_handlers.c b/flight/targets/Revolution/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/RevoMini/System/cm3_fault_handlers.c
rename to flight/targets/Revolution/System/cm3_fault_handlers.c
diff --git a/flight/targets/RevoMini/System/dcc_stdio.c b/flight/targets/Revolution/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/RevoMini/System/dcc_stdio.c
rename to flight/targets/Revolution/System/dcc_stdio.c
diff --git a/flight/targets/RevoMini/System/inc/FreeRTOSConfig.h b/flight/targets/Revolution/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/FreeRTOSConfig.h
rename to flight/targets/Revolution/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/RevoMini/System/inc/dcc_stdio.h b/flight/targets/Revolution/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/dcc_stdio.h
rename to flight/targets/Revolution/System/inc/dcc_stdio.h
diff --git a/flight/targets/RevoMini/System/inc/openpilot.h b/flight/targets/Revolution/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/openpilot.h
rename to flight/targets/Revolution/System/inc/openpilot.h
diff --git a/flight/targets/RevoMini/System/inc/pios_board_sim.h b/flight/targets/Revolution/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/pios_board_sim.h
rename to flight/targets/Revolution/System/inc/pios_board_sim.h
diff --git a/flight/targets/RevoMini/System/inc/pios_config.h b/flight/targets/Revolution/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/pios_config.h
rename to flight/targets/Revolution/System/inc/pios_config.h
diff --git a/flight/targets/RevoMini/System/inc/pios_config_sim.h b/flight/targets/Revolution/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/pios_config_sim.h
rename to flight/targets/Revolution/System/inc/pios_config_sim.h
diff --git a/flight/targets/RevoMini/System/inc/pios_usb_board_data.h b/flight/targets/Revolution/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/RevoMini/System/inc/pios_usb_board_data.h
rename to flight/targets/Revolution/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/RevoMini/System/pios_board.c b/flight/targets/Revolution/System/pios_board.c
similarity index 100%
rename from flight/targets/RevoMini/System/pios_board.c
rename to flight/targets/Revolution/System/pios_board.c
diff --git a/flight/targets/RevoMini/System/pios_board_sim.c b/flight/targets/Revolution/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/RevoMini/System/pios_board_sim.c
rename to flight/targets/Revolution/System/pios_board_sim.c
diff --git a/flight/targets/RevoMini/System/pios_usb_board_data.c b/flight/targets/Revolution/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/RevoMini/System/pios_usb_board_data.c
rename to flight/targets/Revolution/System/pios_usb_board_data.c
diff --git a/flight/targets/RevoMini/System/revolution.c b/flight/targets/Revolution/System/revolution.c
similarity index 100%
rename from flight/targets/RevoMini/System/revolution.c
rename to flight/targets/Revolution/System/revolution.c
diff --git a/flight/targets/RevoMini/UAVObjects.inc b/flight/targets/Revolution/UAVObjects.inc
similarity index 100%
rename from flight/targets/RevoMini/UAVObjects.inc
rename to flight/targets/Revolution/UAVObjects.inc
diff --git a/flight/targets/board_hw_defs/revomini/board_hw_defs.c b/flight/targets/board_hw_defs/revolution/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/revomini/board_hw_defs.c
rename to flight/targets/board_hw_defs/revolution/board_hw_defs.c
index d9aaadd89..d652cc898 100644
--- a/flight/targets/board_hw_defs/revomini/board_hw_defs.c
+++ b/flight/targets/board_hw_defs/revolution/board_hw_defs.c
@@ -7,7 +7,7 @@
  * @{
  * @addtogroup OpenPilotCore OpenPilot Core
  * @{
- * @brief Defines board specific static initializers for hardware for the RevoMini board.
+ * @brief Defines board specific static initializers for hardware for the Revolution board.
  *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index ef6786c8f..d2a3e3867 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -578,7 +578,7 @@ bool UploaderGadgetWidget::autoUpdate()
         filename = "fw_sensortest";
         break;
     case 0x903:
-        filename = "fw_revomini";
+        filename = "fw_revolution";
         break;
     default:
         emit autoUpdateSignal(FAILURE,QVariant());
diff --git a/make/boards/revomini/board-info.mk b/make/boards/revolution/board-info.mk
similarity index 100%
rename from make/boards/revomini/board-info.mk
rename to make/boards/revolution/board-info.mk

From fc845888d33bf23ca8d4a563002b1e583c8d06cd Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 17:02:01 +0300
Subject: [PATCH 093/125] OP-899: move board targets under targets/boards

---
 Makefile                                           |  4 ++--
 flight/targets/{ => boards}/CopterControl/Makefile |  0
 .../CopterControl/System/coptercontrol.c           |  0
 .../CopterControl/System/inc/FreeRTOSConfig.h      |  0
 .../CopterControl/System/inc/openpilot.h           |  0
 .../CopterControl/System/inc/pios_board_posix.h    |  0
 .../CopterControl/System/inc/pios_config.h         |  0
 .../CopterControl/System/inc/pios_config_posix.h   |  0
 .../CopterControl/System/inc/pios_usb_board_data.h |  0
 .../{ => boards}/CopterControl/System/pios_board.c |  0
 .../CopterControl/System/pios_board_posix.c        |  0
 .../CopterControl/System/pios_usb_board_data.c     |  0
 flight/targets/{ => boards}/OPLinkMini/Makefile    |  0
 .../OPLinkMini/System/inc/FreeRTOSConfig.h         |  0
 .../{ => boards}/OPLinkMini/System/inc/openpilot.h |  0
 .../OPLinkMini/System/inc/pios_board_posix.h       |  0
 .../OPLinkMini/System/inc/pios_config.h            |  0
 .../OPLinkMini/System/inc/pios_config_posix.h      |  0
 .../OPLinkMini/System/inc/pios_usb_board_data.h    |  0
 .../{ => boards}/OPLinkMini/System/oplink.c        |  0
 .../{ => boards}/OPLinkMini/System/pios_board.c    |  0
 .../OPLinkMini/System/pios_board_posix.c           |  0
 .../OPLinkMini/System/pios_usb_board_data.c        |  0
 flight/targets/{ => boards}/OSD/Makefile           |  0
 .../{ => boards}/OSD/System/cm3_fault_handlers.c   |  0
 flight/targets/{ => boards}/OSD/System/dcc_stdio.c |  0
 .../{ => boards}/OSD/System/font_outlined8x14.c    |  0
 .../{ => boards}/OSD/System/font_outlined8x8.c     |  0
 flight/targets/{ => boards}/OSD/System/fonts.c     |  0
 .../{ => boards}/OSD/System/inc/FreeRTOSConfig.h   |  0
 .../{ => boards}/OSD/System/inc/dcc_stdio.h        |  0
 .../{ => boards}/OSD/System/inc/font12x18.h        |  0
 .../targets/{ => boards}/OSD/System/inc/font8x10.h |  0
 .../OSD/System/inc/font_outlined8x14.h             |  0
 .../{ => boards}/OSD/System/inc/font_outlined8x8.h |  0
 flight/targets/{ => boards}/OSD/System/inc/fonts.h |  0
 .../{ => boards}/OSD/System/inc/openpilot.h        |  0
 .../{ => boards}/OSD/System/inc/pios_config.h      |  0
 .../OSD/System/inc/pios_usb_board_data.h           |  0
 .../targets/{ => boards}/OSD/System/inc/splash.h   |  0
 flight/targets/{ => boards}/OSD/System/osd.c       |  0
 .../targets/{ => boards}/OSD/System/pios_board.c   |  0
 .../{ => boards}/OSD/System/pios_usb_board_data.c  |  0
 flight/targets/{ => boards}/Revolution/Makefile    |  0
 .../targets/{ => boards}/Revolution/Makefile.osx   |  0
 .../Revolution/System/cm3_fault_handlers.c         |  0
 .../{ => boards}/Revolution/System/dcc_stdio.c     |  0
 .../Revolution/System/inc/FreeRTOSConfig.h         |  0
 .../{ => boards}/Revolution/System/inc/dcc_stdio.h |  0
 .../{ => boards}/Revolution/System/inc/openpilot.h |  0
 .../Revolution/System/inc/pios_board_sim.h         |  0
 .../Revolution/System/inc/pios_config.h            |  0
 .../Revolution/System/inc/pios_config_sim.h        |  0
 .../Revolution/System/inc/pios_usb_board_data.h    |  0
 .../{ => boards}/Revolution/System/pios_board.c    |  0
 .../Revolution/System/pios_board_sim.c             |  0
 .../Revolution/System/pios_usb_board_data.c        |  0
 .../{ => boards}/Revolution/System/revolution.c    |  0
 .../targets/{ => boards}/Revolution/UAVObjects.inc |  0
 flight/targets/{ => boards}/SensorTest/Makefile    |  0
 .../targets/{ => boards}/SensorTest/Makefile.osx   |  0
 .../SensorTest/System/cm3_fault_handlers.c         |  0
 .../{ => boards}/SensorTest/System/dcc_stdio.c     |  0
 .../SensorTest/System/inc/FreeRTOSConfig.h         |  0
 .../{ => boards}/SensorTest/System/inc/dcc_stdio.h |  0
 .../{ => boards}/SensorTest/System/inc/openpilot.h |  0
 .../SensorTest/System/inc/pios_board_sim.h         |  0
 .../SensorTest/System/inc/pios_config.h            |  0
 .../SensorTest/System/inc/pios_config_sim.h        |  0
 .../SensorTest/System/inc/pios_usb_board_data.h    |  0
 .../{ => boards}/SensorTest/System/pios_board.c    |  0
 .../SensorTest/System/pios_board_sim.c             |  0
 .../SensorTest/System/pios_usb_board_data.c        |  0
 .../{ => boards}/SensorTest/System/revolution.c    |  0
 .../targets/{ => boards}/SensorTest/UAVObjects.inc |  0
 flight/targets/{ => boards}/SimPosix/Makefile      | 14 ++++++--------
 .../SimPosix/System/inc/FreeRTOSConfig.h           |  0
 .../SimPosix/System/inc/FreeRTOSConfig_bk.h        |  0
 .../{ => boards}/SimPosix/System/inc/dcc_stdio.h   |  0
 .../{ => boards}/SimPosix/System/inc/openpilot.h   |  0
 .../{ => boards}/SimPosix/System/inc/pios_config.h |  0
 .../{ => boards}/SimPosix/System/pios_board.c      |  0
 .../{ => boards}/SimPosix/System/simposix.c        |  0
 .../targets/{ => boards}/SimPosix/UAVObjects.inc   |  0
 84 files changed, 8 insertions(+), 10 deletions(-)
 rename flight/targets/{ => boards}/CopterControl/Makefile (100%)
 rename flight/targets/{ => boards}/CopterControl/System/coptercontrol.c (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/pios_board_posix.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/pios_config_posix.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{ => boards}/CopterControl/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/CopterControl/System/pios_board_posix.c (100%)
 rename flight/targets/{ => boards}/CopterControl/System/pios_usb_board_data.c (100%)
 rename flight/targets/{ => boards}/OPLinkMini/Makefile (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/pios_board_posix.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/pios_config_posix.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/oplink.c (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/pios_board_posix.c (100%)
 rename flight/targets/{ => boards}/OPLinkMini/System/pios_usb_board_data.c (100%)
 rename flight/targets/{ => boards}/OSD/Makefile (100%)
 rename flight/targets/{ => boards}/OSD/System/cm3_fault_handlers.c (100%)
 rename flight/targets/{ => boards}/OSD/System/dcc_stdio.c (100%)
 rename flight/targets/{ => boards}/OSD/System/font_outlined8x14.c (100%)
 rename flight/targets/{ => boards}/OSD/System/font_outlined8x8.c (100%)
 rename flight/targets/{ => boards}/OSD/System/fonts.c (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/font12x18.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/font8x10.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/font_outlined8x14.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/font_outlined8x8.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/fonts.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{ => boards}/OSD/System/inc/splash.h (100%)
 rename flight/targets/{ => boards}/OSD/System/osd.c (100%)
 rename flight/targets/{ => boards}/OSD/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/OSD/System/pios_usb_board_data.c (100%)
 rename flight/targets/{ => boards}/Revolution/Makefile (100%)
 rename flight/targets/{ => boards}/Revolution/Makefile.osx (100%)
 rename flight/targets/{ => boards}/Revolution/System/cm3_fault_handlers.c (100%)
 rename flight/targets/{ => boards}/Revolution/System/dcc_stdio.c (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/pios_board_sim.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/pios_config_sim.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{ => boards}/Revolution/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/Revolution/System/pios_board_sim.c (100%)
 rename flight/targets/{ => boards}/Revolution/System/pios_usb_board_data.c (100%)
 rename flight/targets/{ => boards}/Revolution/System/revolution.c (100%)
 rename flight/targets/{ => boards}/Revolution/UAVObjects.inc (100%)
 rename flight/targets/{ => boards}/SensorTest/Makefile (100%)
 rename flight/targets/{ => boards}/SensorTest/Makefile.osx (100%)
 rename flight/targets/{ => boards}/SensorTest/System/cm3_fault_handlers.c (100%)
 rename flight/targets/{ => boards}/SensorTest/System/dcc_stdio.c (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/pios_board_sim.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/pios_config_sim.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{ => boards}/SensorTest/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/SensorTest/System/pios_board_sim.c (100%)
 rename flight/targets/{ => boards}/SensorTest/System/pios_usb_board_data.c (100%)
 rename flight/targets/{ => boards}/SensorTest/System/revolution.c (100%)
 rename flight/targets/{ => boards}/SensorTest/UAVObjects.inc (100%)
 rename flight/targets/{ => boards}/SimPosix/Makefile (96%)
 rename flight/targets/{ => boards}/SimPosix/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/{ => boards}/SimPosix/System/inc/FreeRTOSConfig_bk.h (100%)
 rename flight/targets/{ => boards}/SimPosix/System/inc/dcc_stdio.h (100%)
 rename flight/targets/{ => boards}/SimPosix/System/inc/openpilot.h (100%)
 rename flight/targets/{ => boards}/SimPosix/System/inc/pios_config.h (100%)
 rename flight/targets/{ => boards}/SimPosix/System/pios_board.c (100%)
 rename flight/targets/{ => boards}/SimPosix/System/simposix.c (100%)
 rename flight/targets/{ => boards}/SimPosix/UAVObjects.inc (100%)

diff --git a/Makefile b/Makefile
index 08974154b..d00d51683 100644
--- a/Makefile
+++ b/Makefile
@@ -269,13 +269,13 @@ fw_$(1): fw_$(1)_opfw
 fw_$(1)_%: uavobjects_flight
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(2) && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=fw \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/$(2) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(2) \
 		OUTDIR=$(BUILD_DIR)/fw_$(1) \
 		TARGET=fw_$(1) \
 		$$*
diff --git a/flight/targets/CopterControl/Makefile b/flight/targets/boards/CopterControl/Makefile
similarity index 100%
rename from flight/targets/CopterControl/Makefile
rename to flight/targets/boards/CopterControl/Makefile
diff --git a/flight/targets/CopterControl/System/coptercontrol.c b/flight/targets/boards/CopterControl/System/coptercontrol.c
similarity index 100%
rename from flight/targets/CopterControl/System/coptercontrol.c
rename to flight/targets/boards/CopterControl/System/coptercontrol.c
diff --git a/flight/targets/CopterControl/System/inc/FreeRTOSConfig.h b/flight/targets/boards/CopterControl/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/CopterControl/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/CopterControl/System/inc/openpilot.h b/flight/targets/boards/CopterControl/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/openpilot.h
rename to flight/targets/boards/CopterControl/System/inc/openpilot.h
diff --git a/flight/targets/CopterControl/System/inc/pios_board_posix.h b/flight/targets/boards/CopterControl/System/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/pios_board_posix.h
rename to flight/targets/boards/CopterControl/System/inc/pios_board_posix.h
diff --git a/flight/targets/CopterControl/System/inc/pios_config.h b/flight/targets/boards/CopterControl/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/pios_config.h
rename to flight/targets/boards/CopterControl/System/inc/pios_config.h
diff --git a/flight/targets/CopterControl/System/inc/pios_config_posix.h b/flight/targets/boards/CopterControl/System/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/pios_config_posix.h
rename to flight/targets/boards/CopterControl/System/inc/pios_config_posix.h
diff --git a/flight/targets/CopterControl/System/inc/pios_usb_board_data.h b/flight/targets/boards/CopterControl/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/CopterControl/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/CopterControl/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/CopterControl/System/pios_board.c b/flight/targets/boards/CopterControl/System/pios_board.c
similarity index 100%
rename from flight/targets/CopterControl/System/pios_board.c
rename to flight/targets/boards/CopterControl/System/pios_board.c
diff --git a/flight/targets/CopterControl/System/pios_board_posix.c b/flight/targets/boards/CopterControl/System/pios_board_posix.c
similarity index 100%
rename from flight/targets/CopterControl/System/pios_board_posix.c
rename to flight/targets/boards/CopterControl/System/pios_board_posix.c
diff --git a/flight/targets/CopterControl/System/pios_usb_board_data.c b/flight/targets/boards/CopterControl/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/CopterControl/System/pios_usb_board_data.c
rename to flight/targets/boards/CopterControl/System/pios_usb_board_data.c
diff --git a/flight/targets/OPLinkMini/Makefile b/flight/targets/boards/OPLinkMini/Makefile
similarity index 100%
rename from flight/targets/OPLinkMini/Makefile
rename to flight/targets/boards/OPLinkMini/Makefile
diff --git a/flight/targets/OPLinkMini/System/inc/FreeRTOSConfig.h b/flight/targets/boards/OPLinkMini/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/OPLinkMini/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/OPLinkMini/System/inc/openpilot.h b/flight/targets/boards/OPLinkMini/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/openpilot.h
rename to flight/targets/boards/OPLinkMini/System/inc/openpilot.h
diff --git a/flight/targets/OPLinkMini/System/inc/pios_board_posix.h b/flight/targets/boards/OPLinkMini/System/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/pios_board_posix.h
rename to flight/targets/boards/OPLinkMini/System/inc/pios_board_posix.h
diff --git a/flight/targets/OPLinkMini/System/inc/pios_config.h b/flight/targets/boards/OPLinkMini/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/pios_config.h
rename to flight/targets/boards/OPLinkMini/System/inc/pios_config.h
diff --git a/flight/targets/OPLinkMini/System/inc/pios_config_posix.h b/flight/targets/boards/OPLinkMini/System/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/pios_config_posix.h
rename to flight/targets/boards/OPLinkMini/System/inc/pios_config_posix.h
diff --git a/flight/targets/OPLinkMini/System/inc/pios_usb_board_data.h b/flight/targets/boards/OPLinkMini/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/OPLinkMini/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/OPLinkMini/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/OPLinkMini/System/oplink.c b/flight/targets/boards/OPLinkMini/System/oplink.c
similarity index 100%
rename from flight/targets/OPLinkMini/System/oplink.c
rename to flight/targets/boards/OPLinkMini/System/oplink.c
diff --git a/flight/targets/OPLinkMini/System/pios_board.c b/flight/targets/boards/OPLinkMini/System/pios_board.c
similarity index 100%
rename from flight/targets/OPLinkMini/System/pios_board.c
rename to flight/targets/boards/OPLinkMini/System/pios_board.c
diff --git a/flight/targets/OPLinkMini/System/pios_board_posix.c b/flight/targets/boards/OPLinkMini/System/pios_board_posix.c
similarity index 100%
rename from flight/targets/OPLinkMini/System/pios_board_posix.c
rename to flight/targets/boards/OPLinkMini/System/pios_board_posix.c
diff --git a/flight/targets/OPLinkMini/System/pios_usb_board_data.c b/flight/targets/boards/OPLinkMini/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/OPLinkMini/System/pios_usb_board_data.c
rename to flight/targets/boards/OPLinkMini/System/pios_usb_board_data.c
diff --git a/flight/targets/OSD/Makefile b/flight/targets/boards/OSD/Makefile
similarity index 100%
rename from flight/targets/OSD/Makefile
rename to flight/targets/boards/OSD/Makefile
diff --git a/flight/targets/OSD/System/cm3_fault_handlers.c b/flight/targets/boards/OSD/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/OSD/System/cm3_fault_handlers.c
rename to flight/targets/boards/OSD/System/cm3_fault_handlers.c
diff --git a/flight/targets/OSD/System/dcc_stdio.c b/flight/targets/boards/OSD/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/OSD/System/dcc_stdio.c
rename to flight/targets/boards/OSD/System/dcc_stdio.c
diff --git a/flight/targets/OSD/System/font_outlined8x14.c b/flight/targets/boards/OSD/System/font_outlined8x14.c
similarity index 100%
rename from flight/targets/OSD/System/font_outlined8x14.c
rename to flight/targets/boards/OSD/System/font_outlined8x14.c
diff --git a/flight/targets/OSD/System/font_outlined8x8.c b/flight/targets/boards/OSD/System/font_outlined8x8.c
similarity index 100%
rename from flight/targets/OSD/System/font_outlined8x8.c
rename to flight/targets/boards/OSD/System/font_outlined8x8.c
diff --git a/flight/targets/OSD/System/fonts.c b/flight/targets/boards/OSD/System/fonts.c
similarity index 100%
rename from flight/targets/OSD/System/fonts.c
rename to flight/targets/boards/OSD/System/fonts.c
diff --git a/flight/targets/OSD/System/inc/FreeRTOSConfig.h b/flight/targets/boards/OSD/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/OSD/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/OSD/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/OSD/System/inc/dcc_stdio.h b/flight/targets/boards/OSD/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/OSD/System/inc/dcc_stdio.h
rename to flight/targets/boards/OSD/System/inc/dcc_stdio.h
diff --git a/flight/targets/OSD/System/inc/font12x18.h b/flight/targets/boards/OSD/System/inc/font12x18.h
similarity index 100%
rename from flight/targets/OSD/System/inc/font12x18.h
rename to flight/targets/boards/OSD/System/inc/font12x18.h
diff --git a/flight/targets/OSD/System/inc/font8x10.h b/flight/targets/boards/OSD/System/inc/font8x10.h
similarity index 100%
rename from flight/targets/OSD/System/inc/font8x10.h
rename to flight/targets/boards/OSD/System/inc/font8x10.h
diff --git a/flight/targets/OSD/System/inc/font_outlined8x14.h b/flight/targets/boards/OSD/System/inc/font_outlined8x14.h
similarity index 100%
rename from flight/targets/OSD/System/inc/font_outlined8x14.h
rename to flight/targets/boards/OSD/System/inc/font_outlined8x14.h
diff --git a/flight/targets/OSD/System/inc/font_outlined8x8.h b/flight/targets/boards/OSD/System/inc/font_outlined8x8.h
similarity index 100%
rename from flight/targets/OSD/System/inc/font_outlined8x8.h
rename to flight/targets/boards/OSD/System/inc/font_outlined8x8.h
diff --git a/flight/targets/OSD/System/inc/fonts.h b/flight/targets/boards/OSD/System/inc/fonts.h
similarity index 100%
rename from flight/targets/OSD/System/inc/fonts.h
rename to flight/targets/boards/OSD/System/inc/fonts.h
diff --git a/flight/targets/OSD/System/inc/openpilot.h b/flight/targets/boards/OSD/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/OSD/System/inc/openpilot.h
rename to flight/targets/boards/OSD/System/inc/openpilot.h
diff --git a/flight/targets/OSD/System/inc/pios_config.h b/flight/targets/boards/OSD/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/OSD/System/inc/pios_config.h
rename to flight/targets/boards/OSD/System/inc/pios_config.h
diff --git a/flight/targets/OSD/System/inc/pios_usb_board_data.h b/flight/targets/boards/OSD/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/OSD/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/OSD/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/OSD/System/inc/splash.h b/flight/targets/boards/OSD/System/inc/splash.h
similarity index 100%
rename from flight/targets/OSD/System/inc/splash.h
rename to flight/targets/boards/OSD/System/inc/splash.h
diff --git a/flight/targets/OSD/System/osd.c b/flight/targets/boards/OSD/System/osd.c
similarity index 100%
rename from flight/targets/OSD/System/osd.c
rename to flight/targets/boards/OSD/System/osd.c
diff --git a/flight/targets/OSD/System/pios_board.c b/flight/targets/boards/OSD/System/pios_board.c
similarity index 100%
rename from flight/targets/OSD/System/pios_board.c
rename to flight/targets/boards/OSD/System/pios_board.c
diff --git a/flight/targets/OSD/System/pios_usb_board_data.c b/flight/targets/boards/OSD/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/OSD/System/pios_usb_board_data.c
rename to flight/targets/boards/OSD/System/pios_usb_board_data.c
diff --git a/flight/targets/Revolution/Makefile b/flight/targets/boards/Revolution/Makefile
similarity index 100%
rename from flight/targets/Revolution/Makefile
rename to flight/targets/boards/Revolution/Makefile
diff --git a/flight/targets/Revolution/Makefile.osx b/flight/targets/boards/Revolution/Makefile.osx
similarity index 100%
rename from flight/targets/Revolution/Makefile.osx
rename to flight/targets/boards/Revolution/Makefile.osx
diff --git a/flight/targets/Revolution/System/cm3_fault_handlers.c b/flight/targets/boards/Revolution/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/Revolution/System/cm3_fault_handlers.c
rename to flight/targets/boards/Revolution/System/cm3_fault_handlers.c
diff --git a/flight/targets/Revolution/System/dcc_stdio.c b/flight/targets/boards/Revolution/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/Revolution/System/dcc_stdio.c
rename to flight/targets/boards/Revolution/System/dcc_stdio.c
diff --git a/flight/targets/Revolution/System/inc/FreeRTOSConfig.h b/flight/targets/boards/Revolution/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/Revolution/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/Revolution/System/inc/dcc_stdio.h b/flight/targets/boards/Revolution/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/dcc_stdio.h
rename to flight/targets/boards/Revolution/System/inc/dcc_stdio.h
diff --git a/flight/targets/Revolution/System/inc/openpilot.h b/flight/targets/boards/Revolution/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/openpilot.h
rename to flight/targets/boards/Revolution/System/inc/openpilot.h
diff --git a/flight/targets/Revolution/System/inc/pios_board_sim.h b/flight/targets/boards/Revolution/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_board_sim.h
rename to flight/targets/boards/Revolution/System/inc/pios_board_sim.h
diff --git a/flight/targets/Revolution/System/inc/pios_config.h b/flight/targets/boards/Revolution/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_config.h
rename to flight/targets/boards/Revolution/System/inc/pios_config.h
diff --git a/flight/targets/Revolution/System/inc/pios_config_sim.h b/flight/targets/boards/Revolution/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_config_sim.h
rename to flight/targets/boards/Revolution/System/inc/pios_config_sim.h
diff --git a/flight/targets/Revolution/System/inc/pios_usb_board_data.h b/flight/targets/boards/Revolution/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Revolution/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/Revolution/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/Revolution/System/pios_board.c b/flight/targets/boards/Revolution/System/pios_board.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_board.c
rename to flight/targets/boards/Revolution/System/pios_board.c
diff --git a/flight/targets/Revolution/System/pios_board_sim.c b/flight/targets/boards/Revolution/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_board_sim.c
rename to flight/targets/boards/Revolution/System/pios_board_sim.c
diff --git a/flight/targets/Revolution/System/pios_usb_board_data.c b/flight/targets/boards/Revolution/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Revolution/System/pios_usb_board_data.c
rename to flight/targets/boards/Revolution/System/pios_usb_board_data.c
diff --git a/flight/targets/Revolution/System/revolution.c b/flight/targets/boards/Revolution/System/revolution.c
similarity index 100%
rename from flight/targets/Revolution/System/revolution.c
rename to flight/targets/boards/Revolution/System/revolution.c
diff --git a/flight/targets/Revolution/UAVObjects.inc b/flight/targets/boards/Revolution/UAVObjects.inc
similarity index 100%
rename from flight/targets/Revolution/UAVObjects.inc
rename to flight/targets/boards/Revolution/UAVObjects.inc
diff --git a/flight/targets/SensorTest/Makefile b/flight/targets/boards/SensorTest/Makefile
similarity index 100%
rename from flight/targets/SensorTest/Makefile
rename to flight/targets/boards/SensorTest/Makefile
diff --git a/flight/targets/SensorTest/Makefile.osx b/flight/targets/boards/SensorTest/Makefile.osx
similarity index 100%
rename from flight/targets/SensorTest/Makefile.osx
rename to flight/targets/boards/SensorTest/Makefile.osx
diff --git a/flight/targets/SensorTest/System/cm3_fault_handlers.c b/flight/targets/boards/SensorTest/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/SensorTest/System/cm3_fault_handlers.c
rename to flight/targets/boards/SensorTest/System/cm3_fault_handlers.c
diff --git a/flight/targets/SensorTest/System/dcc_stdio.c b/flight/targets/boards/SensorTest/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/SensorTest/System/dcc_stdio.c
rename to flight/targets/boards/SensorTest/System/dcc_stdio.c
diff --git a/flight/targets/SensorTest/System/inc/FreeRTOSConfig.h b/flight/targets/boards/SensorTest/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/SensorTest/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/SensorTest/System/inc/dcc_stdio.h b/flight/targets/boards/SensorTest/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/dcc_stdio.h
rename to flight/targets/boards/SensorTest/System/inc/dcc_stdio.h
diff --git a/flight/targets/SensorTest/System/inc/openpilot.h b/flight/targets/boards/SensorTest/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/openpilot.h
rename to flight/targets/boards/SensorTest/System/inc/openpilot.h
diff --git a/flight/targets/SensorTest/System/inc/pios_board_sim.h b/flight/targets/boards/SensorTest/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/pios_board_sim.h
rename to flight/targets/boards/SensorTest/System/inc/pios_board_sim.h
diff --git a/flight/targets/SensorTest/System/inc/pios_config.h b/flight/targets/boards/SensorTest/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/pios_config.h
rename to flight/targets/boards/SensorTest/System/inc/pios_config.h
diff --git a/flight/targets/SensorTest/System/inc/pios_config_sim.h b/flight/targets/boards/SensorTest/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/pios_config_sim.h
rename to flight/targets/boards/SensorTest/System/inc/pios_config_sim.h
diff --git a/flight/targets/SensorTest/System/inc/pios_usb_board_data.h b/flight/targets/boards/SensorTest/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/SensorTest/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/SensorTest/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/SensorTest/System/pios_board.c b/flight/targets/boards/SensorTest/System/pios_board.c
similarity index 100%
rename from flight/targets/SensorTest/System/pios_board.c
rename to flight/targets/boards/SensorTest/System/pios_board.c
diff --git a/flight/targets/SensorTest/System/pios_board_sim.c b/flight/targets/boards/SensorTest/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/SensorTest/System/pios_board_sim.c
rename to flight/targets/boards/SensorTest/System/pios_board_sim.c
diff --git a/flight/targets/SensorTest/System/pios_usb_board_data.c b/flight/targets/boards/SensorTest/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/SensorTest/System/pios_usb_board_data.c
rename to flight/targets/boards/SensorTest/System/pios_usb_board_data.c
diff --git a/flight/targets/SensorTest/System/revolution.c b/flight/targets/boards/SensorTest/System/revolution.c
similarity index 100%
rename from flight/targets/SensorTest/System/revolution.c
rename to flight/targets/boards/SensorTest/System/revolution.c
diff --git a/flight/targets/SensorTest/UAVObjects.inc b/flight/targets/boards/SensorTest/UAVObjects.inc
similarity index 100%
rename from flight/targets/SensorTest/UAVObjects.inc
rename to flight/targets/boards/SensorTest/UAVObjects.inc
diff --git a/flight/targets/SimPosix/Makefile b/flight/targets/boards/SimPosix/Makefile
similarity index 96%
rename from flight/targets/SimPosix/Makefile
rename to flight/targets/boards/SimPosix/Makefile
index 6b948a6fd..e56cb7bad 100644
--- a/flight/targets/SimPosix/Makefile
+++ b/flight/targets/boards/SimPosix/Makefile
@@ -43,13 +43,13 @@ MODULES += FirmwareIAP
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc
-OPUAVTALK = ../UAVTalk
+OPUAVTALK = ../../UAVTalk
 OPUAVTALKINC = $(OPUAVTALK)/inc
-OPUAVOBJ = ../UAVObjects
+OPUAVOBJ = ../../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 PIOSINC = $(PIOS)/inc
-OPMODULEDIR = ../../Modules
-FLIGHTLIB = ../../Libraries
+OPMODULEDIR = ../../../Modules
+FLIGHTLIB = ../../../Libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
 MATHLIB = $(FLIGHTLIB)/math
 MATHLIBINC = $(FLIGHTLIB)/math
@@ -57,11 +57,9 @@ PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
 PIOSBOARDS = $(PIOS)/Boards
 PIOSCOMMONLIB = $(PIOS)/Common/Libraries
-OPUAVOBJ = ../UAVObjects
-OPUAVOBJINC = $(OPUAVOBJ)/inc
 BOOT = 
 BOOTINC = 
-HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
+HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 # optional component libraries
@@ -248,7 +246,7 @@ LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
 LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc -lpthread -lrt
 
-#Linker scripts                                                                                                                                                                                                              
+#Linker scripts
 LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 
diff --git a/flight/targets/SimPosix/System/inc/FreeRTOSConfig.h b/flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/SimPosix/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/SimPosix/System/inc/FreeRTOSConfig_bk.h b/flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig_bk.h
similarity index 100%
rename from flight/targets/SimPosix/System/inc/FreeRTOSConfig_bk.h
rename to flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig_bk.h
diff --git a/flight/targets/SimPosix/System/inc/dcc_stdio.h b/flight/targets/boards/SimPosix/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/SimPosix/System/inc/dcc_stdio.h
rename to flight/targets/boards/SimPosix/System/inc/dcc_stdio.h
diff --git a/flight/targets/SimPosix/System/inc/openpilot.h b/flight/targets/boards/SimPosix/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/SimPosix/System/inc/openpilot.h
rename to flight/targets/boards/SimPosix/System/inc/openpilot.h
diff --git a/flight/targets/SimPosix/System/inc/pios_config.h b/flight/targets/boards/SimPosix/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/SimPosix/System/inc/pios_config.h
rename to flight/targets/boards/SimPosix/System/inc/pios_config.h
diff --git a/flight/targets/SimPosix/System/pios_board.c b/flight/targets/boards/SimPosix/System/pios_board.c
similarity index 100%
rename from flight/targets/SimPosix/System/pios_board.c
rename to flight/targets/boards/SimPosix/System/pios_board.c
diff --git a/flight/targets/SimPosix/System/simposix.c b/flight/targets/boards/SimPosix/System/simposix.c
similarity index 100%
rename from flight/targets/SimPosix/System/simposix.c
rename to flight/targets/boards/SimPosix/System/simposix.c
diff --git a/flight/targets/SimPosix/UAVObjects.inc b/flight/targets/boards/SimPosix/UAVObjects.inc
similarity index 100%
rename from flight/targets/SimPosix/UAVObjects.inc
rename to flight/targets/boards/SimPosix/UAVObjects.inc

From 63573fac165244f7fadea0bc2d6afe1a5dfee4aa Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 17:05:21 +0300
Subject: [PATCH 094/125] OP-899: move EF and BU to targets/common

---
 Makefile                                                  | 8 ++++----
 flight/targets/{ => common}/BootloaderUpdater/Makefile    | 0
 .../{ => common}/BootloaderUpdater/inc/pios_config.h      | 0
 flight/targets/{ => common}/BootloaderUpdater/main.c      | 0
 .../targets/{ => common}/BootloaderUpdater/pios_board.c   | 0
 flight/targets/{ => common}/EntireFlash/Makefile          | 0
 flight/targets/{ => common}/EntireFlash/entire-flash.py   | 0
 7 files changed, 4 insertions(+), 4 deletions(-)
 rename flight/targets/{ => common}/BootloaderUpdater/Makefile (100%)
 rename flight/targets/{ => common}/BootloaderUpdater/inc/pios_config.h (100%)
 rename flight/targets/{ => common}/BootloaderUpdater/main.c (100%)
 rename flight/targets/{ => common}/BootloaderUpdater/pios_board.c (100%)
 rename flight/targets/{ => common}/EntireFlash/Makefile (100%)
 rename flight/targets/{ => common}/EntireFlash/entire-flash.py (100%)

diff --git a/Makefile b/Makefile
index d00d51683..d042282ae 100644
--- a/Makefile
+++ b/Makefile
@@ -335,13 +335,13 @@ bu_$(1): bu_$(1)_opfw
 
 bu_$(1)_%: bl_$(1)_bino
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/BootloaderUpdater && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/BootloaderUpdater && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=bu \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/BootloaderUpdater \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/BootloaderUpdater \
 		OUTDIR=$(BUILD_DIR)/bu_$(1) \
 		TARGET=bu_$(1) \
 		$$*
@@ -359,13 +359,13 @@ ef_$(1): ef_$(1)_bin
 
 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
-	$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/EntireFlash && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=ef \
 		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
-		TOPDIR=$(ROOT_DIR)/flight/targets/EntireFlash \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/EntireFlash \
 		OUTDIR=$(BUILD_DIR)/ef_$(1) \
 		TARGET=ef_$(1) \
 		$$*
diff --git a/flight/targets/BootloaderUpdater/Makefile b/flight/targets/common/BootloaderUpdater/Makefile
similarity index 100%
rename from flight/targets/BootloaderUpdater/Makefile
rename to flight/targets/common/BootloaderUpdater/Makefile
diff --git a/flight/targets/BootloaderUpdater/inc/pios_config.h b/flight/targets/common/BootloaderUpdater/inc/pios_config.h
similarity index 100%
rename from flight/targets/BootloaderUpdater/inc/pios_config.h
rename to flight/targets/common/BootloaderUpdater/inc/pios_config.h
diff --git a/flight/targets/BootloaderUpdater/main.c b/flight/targets/common/BootloaderUpdater/main.c
similarity index 100%
rename from flight/targets/BootloaderUpdater/main.c
rename to flight/targets/common/BootloaderUpdater/main.c
diff --git a/flight/targets/BootloaderUpdater/pios_board.c b/flight/targets/common/BootloaderUpdater/pios_board.c
similarity index 100%
rename from flight/targets/BootloaderUpdater/pios_board.c
rename to flight/targets/common/BootloaderUpdater/pios_board.c
diff --git a/flight/targets/EntireFlash/Makefile b/flight/targets/common/EntireFlash/Makefile
similarity index 100%
rename from flight/targets/EntireFlash/Makefile
rename to flight/targets/common/EntireFlash/Makefile
diff --git a/flight/targets/EntireFlash/entire-flash.py b/flight/targets/common/EntireFlash/entire-flash.py
similarity index 100%
rename from flight/targets/EntireFlash/entire-flash.py
rename to flight/targets/common/EntireFlash/entire-flash.py

From c33ff12faa75e86120768bfe6b869c6f48a55213 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 17:25:04 +0300
Subject: [PATCH 095/125] OP-899: rename targets/common/CamelStyle to
 unix_style

---
 Makefile                                                  | 8 ++++----
 .../{BootloaderUpdater => bootloader_updater}/Makefile    | 0
 .../inc/pios_config.h                                     | 0
 .../{BootloaderUpdater => bootloader_updater}/main.c      | 0
 .../pios_board.c                                          | 0
 .../targets/common/{EntireFlash => entire_flash}/Makefile | 0
 .../common/{EntireFlash => entire_flash}/entire-flash.py  | 0
 7 files changed, 4 insertions(+), 4 deletions(-)
 rename flight/targets/common/{BootloaderUpdater => bootloader_updater}/Makefile (100%)
 rename flight/targets/common/{BootloaderUpdater => bootloader_updater}/inc/pios_config.h (100%)
 rename flight/targets/common/{BootloaderUpdater => bootloader_updater}/main.c (100%)
 rename flight/targets/common/{BootloaderUpdater => bootloader_updater}/pios_board.c (100%)
 rename flight/targets/common/{EntireFlash => entire_flash}/Makefile (100%)
 rename flight/targets/common/{EntireFlash => entire_flash}/entire-flash.py (100%)

diff --git a/Makefile b/Makefile
index d042282ae..c2dc4a59f 100644
--- a/Makefile
+++ b/Makefile
@@ -335,13 +335,13 @@ bu_$(1): bu_$(1)_opfw
 
 bu_$(1)_%: bl_$(1)_bino
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/BootloaderUpdater && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=bu \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/BootloaderUpdater \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 		OUTDIR=$(BUILD_DIR)/bu_$(1) \
 		TARGET=bu_$(1) \
 		$$*
@@ -359,13 +359,13 @@ ef_$(1): ef_$(1)_bin
 
 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/EntireFlash && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=ef \
 		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/EntireFlash \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 		OUTDIR=$(BUILD_DIR)/ef_$(1) \
 		TARGET=ef_$(1) \
 		$$*
diff --git a/flight/targets/common/BootloaderUpdater/Makefile b/flight/targets/common/bootloader_updater/Makefile
similarity index 100%
rename from flight/targets/common/BootloaderUpdater/Makefile
rename to flight/targets/common/bootloader_updater/Makefile
diff --git a/flight/targets/common/BootloaderUpdater/inc/pios_config.h b/flight/targets/common/bootloader_updater/inc/pios_config.h
similarity index 100%
rename from flight/targets/common/BootloaderUpdater/inc/pios_config.h
rename to flight/targets/common/bootloader_updater/inc/pios_config.h
diff --git a/flight/targets/common/BootloaderUpdater/main.c b/flight/targets/common/bootloader_updater/main.c
similarity index 100%
rename from flight/targets/common/BootloaderUpdater/main.c
rename to flight/targets/common/bootloader_updater/main.c
diff --git a/flight/targets/common/BootloaderUpdater/pios_board.c b/flight/targets/common/bootloader_updater/pios_board.c
similarity index 100%
rename from flight/targets/common/BootloaderUpdater/pios_board.c
rename to flight/targets/common/bootloader_updater/pios_board.c
diff --git a/flight/targets/common/EntireFlash/Makefile b/flight/targets/common/entire_flash/Makefile
similarity index 100%
rename from flight/targets/common/EntireFlash/Makefile
rename to flight/targets/common/entire_flash/Makefile
diff --git a/flight/targets/common/EntireFlash/entire-flash.py b/flight/targets/common/entire_flash/entire-flash.py
similarity index 100%
rename from flight/targets/common/EntireFlash/entire-flash.py
rename to flight/targets/common/entire_flash/entire-flash.py

From f01655efedd169c08df94c59297292abcb001ff8 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@os-linux.local>
Date: Mon, 15 Apr 2013 18:09:47 +0300
Subject: [PATCH 096/125] OP-899: get rid of board_friendly names

---
 Makefile                                      | 39 ++++++++-----------
 .../{CopterControl => coptercontrol}/Makefile |  0
 .../inc/common.h                              |  0
 .../inc/op_dfu.h                              |  0
 .../inc/pios_config.h                         |  0
 .../inc/pios_usb_board_data.h                 |  0
 .../{CopterControl => coptercontrol}/main.c   |  0
 .../{CopterControl => coptercontrol}/op_dfu.c |  0
 .../pios_board.c                              |  0
 .../pios_usb_board_data.c                     |  0
 .../{OPLinkMini => oplinkmini}/Makefile       |  0
 .../{OPLinkMini => oplinkmini}/inc/common.h   |  0
 .../{OPLinkMini => oplinkmini}/inc/op_dfu.h   |  0
 .../inc/pios_config.h                         |  0
 .../inc/pios_usb_board_data.h                 |  0
 .../{OPLinkMini => oplinkmini}/main.c         |  0
 .../{OPLinkMini => oplinkmini}/op_dfu.c       |  0
 .../{OPLinkMini => oplinkmini}/pios_board.c   |  0
 .../pios_usb_board_data.c                     |  0
 .../targets/Bootloaders/{OSD => osd}/Makefile |  0
 .../Bootloaders/{OSD => osd}/inc/common.h     |  0
 .../Bootloaders/{OSD => osd}/inc/op_dfu.h     |  0
 .../{OSD => osd}/inc/pios_config.h            |  0
 .../{OSD => osd}/inc/pios_usb_board_data.h    |  0
 .../targets/Bootloaders/{OSD => osd}/main.c   |  0
 .../targets/Bootloaders/{OSD => osd}/op_dfu.c |  0
 .../Bootloaders/{OSD => osd}/pios_board.c     |  0
 .../{OSD => osd}/pios_usb_board_data.c        |  0
 .../{Revolution => revolution}/Makefile       |  0
 .../{Revolution => revolution}/inc/common.h   |  0
 .../{Revolution => revolution}/inc/op_dfu.h   |  0
 .../inc/pios_config.h                         |  0
 .../inc/pios_usb_board_data.h                 |  0
 .../{Revolution => revolution}/main.c         |  0
 .../{Revolution => revolution}/op_dfu.c       |  0
 .../{Revolution => revolution}/pios_board.c   |  0
 .../pios_usb_board_data.c                     |  0
 .../{SensorTest => sensortest}/Makefile       |  0
 .../{SensorTest => sensortest}/inc/common.h   |  0
 .../{SensorTest => sensortest}/inc/op_dfu.h   |  0
 .../inc/pios_config.h                         |  0
 .../inc/pios_usb_board_data.h                 |  0
 .../{SensorTest => sensortest}/main.c         |  0
 .../{SensorTest => sensortest}/op_dfu.c       |  0
 .../{SensorTest => sensortest}/pios_board.c   |  0
 .../pios_usb_board_data.c                     |  0
 .../{CopterControl => coptercontrol}/Makefile |  0
 .../System/coptercontrol.c                    |  0
 .../System/inc/FreeRTOSConfig.h               |  0
 .../System/inc/openpilot.h                    |  0
 .../System/inc/pios_board_posix.h             |  0
 .../System/inc/pios_config.h                  |  0
 .../System/inc/pios_config_posix.h            |  0
 .../System/inc/pios_usb_board_data.h          |  0
 .../System/pios_board.c                       |  0
 .../System/pios_board_posix.c                 |  0
 .../System/pios_usb_board_data.c              |  0
 .../{OPLinkMini => oplinkmini}/Makefile       |  0
 .../System/inc/FreeRTOSConfig.h               |  0
 .../System/inc/openpilot.h                    |  0
 .../System/inc/pios_board_posix.h             |  0
 .../System/inc/pios_config.h                  |  0
 .../System/inc/pios_config_posix.h            |  0
 .../System/inc/pios_usb_board_data.h          |  0
 .../System/oplink.c                           |  0
 .../System/pios_board.c                       |  0
 .../System/pios_board_posix.c                 |  0
 .../System/pios_usb_board_data.c              |  0
 flight/targets/boards/{OSD => osd}/Makefile   |  0
 .../{OSD => osd}/System/cm3_fault_handlers.c  |  0
 .../boards/{OSD => osd}/System/dcc_stdio.c    |  0
 .../{OSD => osd}/System/font_outlined8x14.c   |  0
 .../{OSD => osd}/System/font_outlined8x8.c    |  0
 .../boards/{OSD => osd}/System/fonts.c        |  0
 .../{OSD => osd}/System/inc/FreeRTOSConfig.h  |  0
 .../{OSD => osd}/System/inc/dcc_stdio.h       |  0
 .../{OSD => osd}/System/inc/font12x18.h       |  0
 .../boards/{OSD => osd}/System/inc/font8x10.h |  0
 .../System/inc/font_outlined8x14.h            |  0
 .../System/inc/font_outlined8x8.h             |  0
 .../boards/{OSD => osd}/System/inc/fonts.h    |  0
 .../{OSD => osd}/System/inc/openpilot.h       |  0
 .../{OSD => osd}/System/inc/pios_config.h     |  0
 .../System/inc/pios_usb_board_data.h          |  0
 .../boards/{OSD => osd}/System/inc/splash.h   |  0
 .../targets/boards/{OSD => osd}/System/osd.c  |  0
 .../boards/{OSD => osd}/System/pios_board.c   |  0
 .../{OSD => osd}/System/pios_usb_board_data.c |  0
 .../{Revolution => revolution}/Makefile       |  0
 .../{Revolution => revolution}/Makefile.osx   |  0
 .../System/cm3_fault_handlers.c               |  0
 .../System/dcc_stdio.c                        |  0
 .../System/inc/FreeRTOSConfig.h               |  0
 .../System/inc/dcc_stdio.h                    |  0
 .../System/inc/openpilot.h                    |  0
 .../System/inc/pios_board_sim.h               |  0
 .../System/inc/pios_config.h                  |  0
 .../System/inc/pios_config_sim.h              |  0
 .../System/inc/pios_usb_board_data.h          |  0
 .../System/pios_board.c                       |  0
 .../System/pios_board_sim.c                   |  0
 .../System/pios_usb_board_data.c              |  0
 .../System/revolution.c                       |  0
 .../{Revolution => revolution}/UAVObjects.inc |  0
 .../{SensorTest => sensortest}/Makefile       |  0
 .../{SensorTest => sensortest}/Makefile.osx   |  0
 .../System/cm3_fault_handlers.c               |  0
 .../System/dcc_stdio.c                        |  0
 .../System/inc/FreeRTOSConfig.h               |  0
 .../System/inc/dcc_stdio.h                    |  0
 .../System/inc/openpilot.h                    |  0
 .../System/inc/pios_board_sim.h               |  0
 .../System/inc/pios_config.h                  |  0
 .../System/inc/pios_config_sim.h              |  0
 .../System/inc/pios_usb_board_data.h          |  0
 .../System/pios_board.c                       |  0
 .../System/pios_board_sim.c                   |  0
 .../System/pios_usb_board_data.c              |  0
 .../System/revolution.c                       |  0
 .../{SensorTest => sensortest}/UAVObjects.inc |  0
 .../boards/{SimPosix => simposix}/Makefile    |  0
 .../System/inc/FreeRTOSConfig.h               |  0
 .../System/inc/FreeRTOSConfig_bk.h            |  0
 .../System/inc/dcc_stdio.h                    |  0
 .../System/inc/openpilot.h                    |  0
 .../System/inc/pios_config.h                  |  0
 .../System/pios_board.c                       |  0
 .../{SimPosix => simposix}/System/simposix.c  |  0
 .../{SimPosix => simposix}/UAVObjects.inc     |  0
 129 files changed, 16 insertions(+), 23 deletions(-)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/Makefile (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/main.c (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{CopterControl => coptercontrol}/pios_usb_board_data.c (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/Makefile (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/main.c (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{OPLinkMini => oplinkmini}/pios_usb_board_data.c (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/Makefile (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/main.c (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{OSD => osd}/pios_usb_board_data.c (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/Makefile (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/main.c (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{Revolution => revolution}/pios_usb_board_data.c (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/Makefile (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/inc/common.h (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/inc/op_dfu.h (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/inc/pios_config.h (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/main.c (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/op_dfu.c (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/pios_board.c (100%)
 rename flight/targets/Bootloaders/{SensorTest => sensortest}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/Makefile (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/coptercontrol.c (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/pios_board_posix.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/pios_config_posix.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/pios_board.c (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/pios_board_posix.c (100%)
 rename flight/targets/boards/{CopterControl => coptercontrol}/System/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/Makefile (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/pios_board_posix.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/pios_config_posix.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/oplink.c (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/pios_board.c (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/pios_board_posix.c (100%)
 rename flight/targets/boards/{OPLinkMini => oplinkmini}/System/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{OSD => osd}/Makefile (100%)
 rename flight/targets/boards/{OSD => osd}/System/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/dcc_stdio.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/font_outlined8x14.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/font_outlined8x8.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/fonts.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/font12x18.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/font8x10.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/font_outlined8x14.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/font_outlined8x8.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/fonts.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/inc/splash.h (100%)
 rename flight/targets/boards/{OSD => osd}/System/osd.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/pios_board.c (100%)
 rename flight/targets/boards/{OSD => osd}/System/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/Makefile (100%)
 rename flight/targets/boards/{Revolution => revolution}/Makefile.osx (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/dcc_stdio.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/pios_board_sim.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/pios_config_sim.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/pios_board.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/pios_board_sim.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/System/revolution.c (100%)
 rename flight/targets/boards/{Revolution => revolution}/UAVObjects.inc (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/Makefile (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/Makefile.osx (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/dcc_stdio.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/pios_board_sim.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/pios_config_sim.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/pios_board.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/pios_board_sim.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/pios_usb_board_data.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/System/revolution.c (100%)
 rename flight/targets/boards/{SensorTest => sensortest}/UAVObjects.inc (100%)
 rename flight/targets/boards/{SimPosix => simposix}/Makefile (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/inc/FreeRTOSConfig_bk.h (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/inc/openpilot.h (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/inc/pios_config.h (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/pios_board.c (100%)
 rename flight/targets/boards/{SimPosix => simposix}/System/simposix.c (100%)
 rename flight/targets/boards/{SimPosix => simposix}/UAVObjects.inc (100%)

diff --git a/Makefile b/Makefile
index c2dc4a59f..cf1403a49 100644
--- a/Makefile
+++ b/Makefile
@@ -201,14 +201,6 @@ export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 ALL_BOARDS    := coptercontrol oplinkmini sensortest revolution osd simposix
 ALL_BOARDS_BU := coptercontrol oplinkmini simposix
 
-# Friendly names of each board (used to find source tree)
-coptercontrol_friendly := CopterControl
-oplinkmini_friendly    := OPLinkMini
-sensortest_friendly    := SensorTest
-revolution_friendly    := Revolution
-osd_friendly           := OSD
-simposix_friendly      := SimPosix
-
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
 oplinkmini_short       := 'oplm'
@@ -259,8 +251,7 @@ endif
 # TEMPLATES (used to generate build rules)
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Name of board used in source tree (e.g. CopterControl)
-# $(3) = Short name for board (e.g CC)
+# $(2) = Short name for board (e.g cc)
 define FW_TEMPLATE
 .PHONY: $(1) fw_$(1)
 $(1): fw_$(1)_opfw
@@ -269,13 +260,13 @@ fw_$(1): fw_$(1)_opfw
 fw_$(1)_%: uavobjects_flight
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1) && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=fw \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(2) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1) \
 		OUTDIR=$(BUILD_DIR)/fw_$(1) \
 		TARGET=fw_$(1) \
 		$$*
@@ -288,7 +279,7 @@ fw_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Name of board used in source tree (e.g. CopterControl)
+# $(2) = Short name for board (e.g cc)
 define BL_TEMPLATE
 .PHONY: bl_$(1)
 bl_$(1): bl_$(1)_bin
@@ -297,13 +288,13 @@ bl_$(1)_bino: bl_$(1)_bin
 bl_$(1)_%:
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(1) && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bl \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(2) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(1) \
 		OUTDIR=$(BUILD_DIR)/bl_$(1) \
 		TARGET=bl_$(1) \
 		$$*
@@ -329,6 +320,7 @@ bl_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
 define BU_TEMPLATE
 .PHONY: bu_$(1)
 bu_$(1): bu_$(1)_opfw
@@ -338,7 +330,7 @@ bu_$(1)_%: bl_$(1)_bino
 	$(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bu \
 		HWDEFSINC=$(HWDEFS)/$(1) \
 		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
@@ -353,6 +345,7 @@ bu_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
 define EF_TEMPLATE
 .PHONY: ef_$(1)
 ef_$(1): ef_$(1)_bin
@@ -362,7 +355,7 @@ ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=ef \
 		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
 		TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
@@ -416,16 +409,16 @@ all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 
 # Expand the firmware rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the bootloader rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the bootloader updater rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the entire-flash rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 
 .PHONY: sim_win32
 sim_win32: sim_win32_exe
diff --git a/flight/targets/Bootloaders/CopterControl/Makefile b/flight/targets/Bootloaders/coptercontrol/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/Makefile
rename to flight/targets/Bootloaders/coptercontrol/Makefile
diff --git a/flight/targets/Bootloaders/CopterControl/inc/common.h b/flight/targets/Bootloaders/coptercontrol/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/inc/common.h
rename to flight/targets/Bootloaders/coptercontrol/inc/common.h
diff --git a/flight/targets/Bootloaders/CopterControl/inc/op_dfu.h b/flight/targets/Bootloaders/coptercontrol/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/inc/op_dfu.h
rename to flight/targets/Bootloaders/coptercontrol/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/CopterControl/inc/pios_config.h b/flight/targets/Bootloaders/coptercontrol/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/inc/pios_config.h
rename to flight/targets/Bootloaders/coptercontrol/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/CopterControl/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/coptercontrol/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/coptercontrol/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/CopterControl/main.c b/flight/targets/Bootloaders/coptercontrol/main.c
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/main.c
rename to flight/targets/Bootloaders/coptercontrol/main.c
diff --git a/flight/targets/Bootloaders/CopterControl/op_dfu.c b/flight/targets/Bootloaders/coptercontrol/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/op_dfu.c
rename to flight/targets/Bootloaders/coptercontrol/op_dfu.c
diff --git a/flight/targets/Bootloaders/CopterControl/pios_board.c b/flight/targets/Bootloaders/coptercontrol/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/pios_board.c
rename to flight/targets/Bootloaders/coptercontrol/pios_board.c
diff --git a/flight/targets/Bootloaders/CopterControl/pios_usb_board_data.c b/flight/targets/Bootloaders/coptercontrol/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/CopterControl/pios_usb_board_data.c
rename to flight/targets/Bootloaders/coptercontrol/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/OPLinkMini/Makefile b/flight/targets/Bootloaders/oplinkmini/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/Makefile
rename to flight/targets/Bootloaders/oplinkmini/Makefile
diff --git a/flight/targets/Bootloaders/OPLinkMini/inc/common.h b/flight/targets/Bootloaders/oplinkmini/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/inc/common.h
rename to flight/targets/Bootloaders/oplinkmini/inc/common.h
diff --git a/flight/targets/Bootloaders/OPLinkMini/inc/op_dfu.h b/flight/targets/Bootloaders/oplinkmini/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/inc/op_dfu.h
rename to flight/targets/Bootloaders/oplinkmini/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/OPLinkMini/inc/pios_config.h b/flight/targets/Bootloaders/oplinkmini/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/inc/pios_config.h
rename to flight/targets/Bootloaders/oplinkmini/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/OPLinkMini/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/oplinkmini/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/oplinkmini/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/OPLinkMini/main.c b/flight/targets/Bootloaders/oplinkmini/main.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/main.c
rename to flight/targets/Bootloaders/oplinkmini/main.c
diff --git a/flight/targets/Bootloaders/OPLinkMini/op_dfu.c b/flight/targets/Bootloaders/oplinkmini/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/op_dfu.c
rename to flight/targets/Bootloaders/oplinkmini/op_dfu.c
diff --git a/flight/targets/Bootloaders/OPLinkMini/pios_board.c b/flight/targets/Bootloaders/oplinkmini/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/pios_board.c
rename to flight/targets/Bootloaders/oplinkmini/pios_board.c
diff --git a/flight/targets/Bootloaders/OPLinkMini/pios_usb_board_data.c b/flight/targets/Bootloaders/oplinkmini/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/OPLinkMini/pios_usb_board_data.c
rename to flight/targets/Bootloaders/oplinkmini/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/OSD/Makefile b/flight/targets/Bootloaders/osd/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/OSD/Makefile
rename to flight/targets/Bootloaders/osd/Makefile
diff --git a/flight/targets/Bootloaders/OSD/inc/common.h b/flight/targets/Bootloaders/osd/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/OSD/inc/common.h
rename to flight/targets/Bootloaders/osd/inc/common.h
diff --git a/flight/targets/Bootloaders/OSD/inc/op_dfu.h b/flight/targets/Bootloaders/osd/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/OSD/inc/op_dfu.h
rename to flight/targets/Bootloaders/osd/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/OSD/inc/pios_config.h b/flight/targets/Bootloaders/osd/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/OSD/inc/pios_config.h
rename to flight/targets/Bootloaders/osd/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/OSD/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/osd/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/OSD/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/osd/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/OSD/main.c b/flight/targets/Bootloaders/osd/main.c
similarity index 100%
rename from flight/targets/Bootloaders/OSD/main.c
rename to flight/targets/Bootloaders/osd/main.c
diff --git a/flight/targets/Bootloaders/OSD/op_dfu.c b/flight/targets/Bootloaders/osd/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/OSD/op_dfu.c
rename to flight/targets/Bootloaders/osd/op_dfu.c
diff --git a/flight/targets/Bootloaders/OSD/pios_board.c b/flight/targets/Bootloaders/osd/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/OSD/pios_board.c
rename to flight/targets/Bootloaders/osd/pios_board.c
diff --git a/flight/targets/Bootloaders/OSD/pios_usb_board_data.c b/flight/targets/Bootloaders/osd/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/OSD/pios_usb_board_data.c
rename to flight/targets/Bootloaders/osd/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/Revolution/Makefile b/flight/targets/Bootloaders/revolution/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/Makefile
rename to flight/targets/Bootloaders/revolution/Makefile
diff --git a/flight/targets/Bootloaders/Revolution/inc/common.h b/flight/targets/Bootloaders/revolution/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/common.h
rename to flight/targets/Bootloaders/revolution/inc/common.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/op_dfu.h b/flight/targets/Bootloaders/revolution/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/op_dfu.h
rename to flight/targets/Bootloaders/revolution/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/pios_config.h b/flight/targets/Bootloaders/revolution/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/pios_config.h
rename to flight/targets/Bootloaders/revolution/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/revolution/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/revolution/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/Revolution/main.c b/flight/targets/Bootloaders/revolution/main.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/main.c
rename to flight/targets/Bootloaders/revolution/main.c
diff --git a/flight/targets/Bootloaders/Revolution/op_dfu.c b/flight/targets/Bootloaders/revolution/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/op_dfu.c
rename to flight/targets/Bootloaders/revolution/op_dfu.c
diff --git a/flight/targets/Bootloaders/Revolution/pios_board.c b/flight/targets/Bootloaders/revolution/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/pios_board.c
rename to flight/targets/Bootloaders/revolution/pios_board.c
diff --git a/flight/targets/Bootloaders/Revolution/pios_usb_board_data.c b/flight/targets/Bootloaders/revolution/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/Revolution/pios_usb_board_data.c
rename to flight/targets/Bootloaders/revolution/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/SensorTest/Makefile b/flight/targets/Bootloaders/sensortest/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/Makefile
rename to flight/targets/Bootloaders/sensortest/Makefile
diff --git a/flight/targets/Bootloaders/SensorTest/inc/common.h b/flight/targets/Bootloaders/sensortest/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/inc/common.h
rename to flight/targets/Bootloaders/sensortest/inc/common.h
diff --git a/flight/targets/Bootloaders/SensorTest/inc/op_dfu.h b/flight/targets/Bootloaders/sensortest/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/inc/op_dfu.h
rename to flight/targets/Bootloaders/sensortest/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/SensorTest/inc/pios_config.h b/flight/targets/Bootloaders/sensortest/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/inc/pios_config.h
rename to flight/targets/Bootloaders/sensortest/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/SensorTest/inc/pios_usb_board_data.h b/flight/targets/Bootloaders/sensortest/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/inc/pios_usb_board_data.h
rename to flight/targets/Bootloaders/sensortest/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/SensorTest/main.c b/flight/targets/Bootloaders/sensortest/main.c
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/main.c
rename to flight/targets/Bootloaders/sensortest/main.c
diff --git a/flight/targets/Bootloaders/SensorTest/op_dfu.c b/flight/targets/Bootloaders/sensortest/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/op_dfu.c
rename to flight/targets/Bootloaders/sensortest/op_dfu.c
diff --git a/flight/targets/Bootloaders/SensorTest/pios_board.c b/flight/targets/Bootloaders/sensortest/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/pios_board.c
rename to flight/targets/Bootloaders/sensortest/pios_board.c
diff --git a/flight/targets/Bootloaders/SensorTest/pios_usb_board_data.c b/flight/targets/Bootloaders/sensortest/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/SensorTest/pios_usb_board_data.c
rename to flight/targets/Bootloaders/sensortest/pios_usb_board_data.c
diff --git a/flight/targets/boards/CopterControl/Makefile b/flight/targets/boards/coptercontrol/Makefile
similarity index 100%
rename from flight/targets/boards/CopterControl/Makefile
rename to flight/targets/boards/coptercontrol/Makefile
diff --git a/flight/targets/boards/CopterControl/System/coptercontrol.c b/flight/targets/boards/coptercontrol/System/coptercontrol.c
similarity index 100%
rename from flight/targets/boards/CopterControl/System/coptercontrol.c
rename to flight/targets/boards/coptercontrol/System/coptercontrol.c
diff --git a/flight/targets/boards/CopterControl/System/inc/FreeRTOSConfig.h b/flight/targets/boards/coptercontrol/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/coptercontrol/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/CopterControl/System/inc/openpilot.h b/flight/targets/boards/coptercontrol/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/openpilot.h
rename to flight/targets/boards/coptercontrol/System/inc/openpilot.h
diff --git a/flight/targets/boards/CopterControl/System/inc/pios_board_posix.h b/flight/targets/boards/coptercontrol/System/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/pios_board_posix.h
rename to flight/targets/boards/coptercontrol/System/inc/pios_board_posix.h
diff --git a/flight/targets/boards/CopterControl/System/inc/pios_config.h b/flight/targets/boards/coptercontrol/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/pios_config.h
rename to flight/targets/boards/coptercontrol/System/inc/pios_config.h
diff --git a/flight/targets/boards/CopterControl/System/inc/pios_config_posix.h b/flight/targets/boards/coptercontrol/System/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/pios_config_posix.h
rename to flight/targets/boards/coptercontrol/System/inc/pios_config_posix.h
diff --git a/flight/targets/boards/CopterControl/System/inc/pios_usb_board_data.h b/flight/targets/boards/coptercontrol/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/CopterControl/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/coptercontrol/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/CopterControl/System/pios_board.c b/flight/targets/boards/coptercontrol/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/CopterControl/System/pios_board.c
rename to flight/targets/boards/coptercontrol/System/pios_board.c
diff --git a/flight/targets/boards/CopterControl/System/pios_board_posix.c b/flight/targets/boards/coptercontrol/System/pios_board_posix.c
similarity index 100%
rename from flight/targets/boards/CopterControl/System/pios_board_posix.c
rename to flight/targets/boards/coptercontrol/System/pios_board_posix.c
diff --git a/flight/targets/boards/CopterControl/System/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/CopterControl/System/pios_usb_board_data.c
rename to flight/targets/boards/coptercontrol/System/pios_usb_board_data.c
diff --git a/flight/targets/boards/OPLinkMini/Makefile b/flight/targets/boards/oplinkmini/Makefile
similarity index 100%
rename from flight/targets/boards/OPLinkMini/Makefile
rename to flight/targets/boards/oplinkmini/Makefile
diff --git a/flight/targets/boards/OPLinkMini/System/inc/FreeRTOSConfig.h b/flight/targets/boards/oplinkmini/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/oplinkmini/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/OPLinkMini/System/inc/openpilot.h b/flight/targets/boards/oplinkmini/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/openpilot.h
rename to flight/targets/boards/oplinkmini/System/inc/openpilot.h
diff --git a/flight/targets/boards/OPLinkMini/System/inc/pios_board_posix.h b/flight/targets/boards/oplinkmini/System/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/pios_board_posix.h
rename to flight/targets/boards/oplinkmini/System/inc/pios_board_posix.h
diff --git a/flight/targets/boards/OPLinkMini/System/inc/pios_config.h b/flight/targets/boards/oplinkmini/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/pios_config.h
rename to flight/targets/boards/oplinkmini/System/inc/pios_config.h
diff --git a/flight/targets/boards/OPLinkMini/System/inc/pios_config_posix.h b/flight/targets/boards/oplinkmini/System/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/pios_config_posix.h
rename to flight/targets/boards/oplinkmini/System/inc/pios_config_posix.h
diff --git a/flight/targets/boards/OPLinkMini/System/inc/pios_usb_board_data.h b/flight/targets/boards/oplinkmini/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/oplinkmini/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/OPLinkMini/System/oplink.c b/flight/targets/boards/oplinkmini/System/oplink.c
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/oplink.c
rename to flight/targets/boards/oplinkmini/System/oplink.c
diff --git a/flight/targets/boards/OPLinkMini/System/pios_board.c b/flight/targets/boards/oplinkmini/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/pios_board.c
rename to flight/targets/boards/oplinkmini/System/pios_board.c
diff --git a/flight/targets/boards/OPLinkMini/System/pios_board_posix.c b/flight/targets/boards/oplinkmini/System/pios_board_posix.c
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/pios_board_posix.c
rename to flight/targets/boards/oplinkmini/System/pios_board_posix.c
diff --git a/flight/targets/boards/OPLinkMini/System/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/OPLinkMini/System/pios_usb_board_data.c
rename to flight/targets/boards/oplinkmini/System/pios_usb_board_data.c
diff --git a/flight/targets/boards/OSD/Makefile b/flight/targets/boards/osd/Makefile
similarity index 100%
rename from flight/targets/boards/OSD/Makefile
rename to flight/targets/boards/osd/Makefile
diff --git a/flight/targets/boards/OSD/System/cm3_fault_handlers.c b/flight/targets/boards/osd/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/OSD/System/cm3_fault_handlers.c
rename to flight/targets/boards/osd/System/cm3_fault_handlers.c
diff --git a/flight/targets/boards/OSD/System/dcc_stdio.c b/flight/targets/boards/osd/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/OSD/System/dcc_stdio.c
rename to flight/targets/boards/osd/System/dcc_stdio.c
diff --git a/flight/targets/boards/OSD/System/font_outlined8x14.c b/flight/targets/boards/osd/System/font_outlined8x14.c
similarity index 100%
rename from flight/targets/boards/OSD/System/font_outlined8x14.c
rename to flight/targets/boards/osd/System/font_outlined8x14.c
diff --git a/flight/targets/boards/OSD/System/font_outlined8x8.c b/flight/targets/boards/osd/System/font_outlined8x8.c
similarity index 100%
rename from flight/targets/boards/OSD/System/font_outlined8x8.c
rename to flight/targets/boards/osd/System/font_outlined8x8.c
diff --git a/flight/targets/boards/OSD/System/fonts.c b/flight/targets/boards/osd/System/fonts.c
similarity index 100%
rename from flight/targets/boards/OSD/System/fonts.c
rename to flight/targets/boards/osd/System/fonts.c
diff --git a/flight/targets/boards/OSD/System/inc/FreeRTOSConfig.h b/flight/targets/boards/osd/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/osd/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/OSD/System/inc/dcc_stdio.h b/flight/targets/boards/osd/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/dcc_stdio.h
rename to flight/targets/boards/osd/System/inc/dcc_stdio.h
diff --git a/flight/targets/boards/OSD/System/inc/font12x18.h b/flight/targets/boards/osd/System/inc/font12x18.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/font12x18.h
rename to flight/targets/boards/osd/System/inc/font12x18.h
diff --git a/flight/targets/boards/OSD/System/inc/font8x10.h b/flight/targets/boards/osd/System/inc/font8x10.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/font8x10.h
rename to flight/targets/boards/osd/System/inc/font8x10.h
diff --git a/flight/targets/boards/OSD/System/inc/font_outlined8x14.h b/flight/targets/boards/osd/System/inc/font_outlined8x14.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/font_outlined8x14.h
rename to flight/targets/boards/osd/System/inc/font_outlined8x14.h
diff --git a/flight/targets/boards/OSD/System/inc/font_outlined8x8.h b/flight/targets/boards/osd/System/inc/font_outlined8x8.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/font_outlined8x8.h
rename to flight/targets/boards/osd/System/inc/font_outlined8x8.h
diff --git a/flight/targets/boards/OSD/System/inc/fonts.h b/flight/targets/boards/osd/System/inc/fonts.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/fonts.h
rename to flight/targets/boards/osd/System/inc/fonts.h
diff --git a/flight/targets/boards/OSD/System/inc/openpilot.h b/flight/targets/boards/osd/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/openpilot.h
rename to flight/targets/boards/osd/System/inc/openpilot.h
diff --git a/flight/targets/boards/OSD/System/inc/pios_config.h b/flight/targets/boards/osd/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/pios_config.h
rename to flight/targets/boards/osd/System/inc/pios_config.h
diff --git a/flight/targets/boards/OSD/System/inc/pios_usb_board_data.h b/flight/targets/boards/osd/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/osd/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/OSD/System/inc/splash.h b/flight/targets/boards/osd/System/inc/splash.h
similarity index 100%
rename from flight/targets/boards/OSD/System/inc/splash.h
rename to flight/targets/boards/osd/System/inc/splash.h
diff --git a/flight/targets/boards/OSD/System/osd.c b/flight/targets/boards/osd/System/osd.c
similarity index 100%
rename from flight/targets/boards/OSD/System/osd.c
rename to flight/targets/boards/osd/System/osd.c
diff --git a/flight/targets/boards/OSD/System/pios_board.c b/flight/targets/boards/osd/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/OSD/System/pios_board.c
rename to flight/targets/boards/osd/System/pios_board.c
diff --git a/flight/targets/boards/OSD/System/pios_usb_board_data.c b/flight/targets/boards/osd/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/OSD/System/pios_usb_board_data.c
rename to flight/targets/boards/osd/System/pios_usb_board_data.c
diff --git a/flight/targets/boards/Revolution/Makefile b/flight/targets/boards/revolution/Makefile
similarity index 100%
rename from flight/targets/boards/Revolution/Makefile
rename to flight/targets/boards/revolution/Makefile
diff --git a/flight/targets/boards/Revolution/Makefile.osx b/flight/targets/boards/revolution/Makefile.osx
similarity index 100%
rename from flight/targets/boards/Revolution/Makefile.osx
rename to flight/targets/boards/revolution/Makefile.osx
diff --git a/flight/targets/boards/Revolution/System/cm3_fault_handlers.c b/flight/targets/boards/revolution/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/cm3_fault_handlers.c
rename to flight/targets/boards/revolution/System/cm3_fault_handlers.c
diff --git a/flight/targets/boards/Revolution/System/dcc_stdio.c b/flight/targets/boards/revolution/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/dcc_stdio.c
rename to flight/targets/boards/revolution/System/dcc_stdio.c
diff --git a/flight/targets/boards/Revolution/System/inc/FreeRTOSConfig.h b/flight/targets/boards/revolution/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/revolution/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/Revolution/System/inc/dcc_stdio.h b/flight/targets/boards/revolution/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/dcc_stdio.h
rename to flight/targets/boards/revolution/System/inc/dcc_stdio.h
diff --git a/flight/targets/boards/Revolution/System/inc/openpilot.h b/flight/targets/boards/revolution/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/openpilot.h
rename to flight/targets/boards/revolution/System/inc/openpilot.h
diff --git a/flight/targets/boards/Revolution/System/inc/pios_board_sim.h b/flight/targets/boards/revolution/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/pios_board_sim.h
rename to flight/targets/boards/revolution/System/inc/pios_board_sim.h
diff --git a/flight/targets/boards/Revolution/System/inc/pios_config.h b/flight/targets/boards/revolution/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/pios_config.h
rename to flight/targets/boards/revolution/System/inc/pios_config.h
diff --git a/flight/targets/boards/Revolution/System/inc/pios_config_sim.h b/flight/targets/boards/revolution/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/pios_config_sim.h
rename to flight/targets/boards/revolution/System/inc/pios_config_sim.h
diff --git a/flight/targets/boards/Revolution/System/inc/pios_usb_board_data.h b/flight/targets/boards/revolution/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/Revolution/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/revolution/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/Revolution/System/pios_board.c b/flight/targets/boards/revolution/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/pios_board.c
rename to flight/targets/boards/revolution/System/pios_board.c
diff --git a/flight/targets/boards/Revolution/System/pios_board_sim.c b/flight/targets/boards/revolution/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/pios_board_sim.c
rename to flight/targets/boards/revolution/System/pios_board_sim.c
diff --git a/flight/targets/boards/Revolution/System/pios_usb_board_data.c b/flight/targets/boards/revolution/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/pios_usb_board_data.c
rename to flight/targets/boards/revolution/System/pios_usb_board_data.c
diff --git a/flight/targets/boards/Revolution/System/revolution.c b/flight/targets/boards/revolution/System/revolution.c
similarity index 100%
rename from flight/targets/boards/Revolution/System/revolution.c
rename to flight/targets/boards/revolution/System/revolution.c
diff --git a/flight/targets/boards/Revolution/UAVObjects.inc b/flight/targets/boards/revolution/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/Revolution/UAVObjects.inc
rename to flight/targets/boards/revolution/UAVObjects.inc
diff --git a/flight/targets/boards/SensorTest/Makefile b/flight/targets/boards/sensortest/Makefile
similarity index 100%
rename from flight/targets/boards/SensorTest/Makefile
rename to flight/targets/boards/sensortest/Makefile
diff --git a/flight/targets/boards/SensorTest/Makefile.osx b/flight/targets/boards/sensortest/Makefile.osx
similarity index 100%
rename from flight/targets/boards/SensorTest/Makefile.osx
rename to flight/targets/boards/sensortest/Makefile.osx
diff --git a/flight/targets/boards/SensorTest/System/cm3_fault_handlers.c b/flight/targets/boards/sensortest/System/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/cm3_fault_handlers.c
rename to flight/targets/boards/sensortest/System/cm3_fault_handlers.c
diff --git a/flight/targets/boards/SensorTest/System/dcc_stdio.c b/flight/targets/boards/sensortest/System/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/dcc_stdio.c
rename to flight/targets/boards/sensortest/System/dcc_stdio.c
diff --git a/flight/targets/boards/SensorTest/System/inc/FreeRTOSConfig.h b/flight/targets/boards/sensortest/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/sensortest/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/SensorTest/System/inc/dcc_stdio.h b/flight/targets/boards/sensortest/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/dcc_stdio.h
rename to flight/targets/boards/sensortest/System/inc/dcc_stdio.h
diff --git a/flight/targets/boards/SensorTest/System/inc/openpilot.h b/flight/targets/boards/sensortest/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/openpilot.h
rename to flight/targets/boards/sensortest/System/inc/openpilot.h
diff --git a/flight/targets/boards/SensorTest/System/inc/pios_board_sim.h b/flight/targets/boards/sensortest/System/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/pios_board_sim.h
rename to flight/targets/boards/sensortest/System/inc/pios_board_sim.h
diff --git a/flight/targets/boards/SensorTest/System/inc/pios_config.h b/flight/targets/boards/sensortest/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/pios_config.h
rename to flight/targets/boards/sensortest/System/inc/pios_config.h
diff --git a/flight/targets/boards/SensorTest/System/inc/pios_config_sim.h b/flight/targets/boards/sensortest/System/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/pios_config_sim.h
rename to flight/targets/boards/sensortest/System/inc/pios_config_sim.h
diff --git a/flight/targets/boards/SensorTest/System/inc/pios_usb_board_data.h b/flight/targets/boards/sensortest/System/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/SensorTest/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/sensortest/System/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/SensorTest/System/pios_board.c b/flight/targets/boards/sensortest/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/pios_board.c
rename to flight/targets/boards/sensortest/System/pios_board.c
diff --git a/flight/targets/boards/SensorTest/System/pios_board_sim.c b/flight/targets/boards/sensortest/System/pios_board_sim.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/pios_board_sim.c
rename to flight/targets/boards/sensortest/System/pios_board_sim.c
diff --git a/flight/targets/boards/SensorTest/System/pios_usb_board_data.c b/flight/targets/boards/sensortest/System/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/pios_usb_board_data.c
rename to flight/targets/boards/sensortest/System/pios_usb_board_data.c
diff --git a/flight/targets/boards/SensorTest/System/revolution.c b/flight/targets/boards/sensortest/System/revolution.c
similarity index 100%
rename from flight/targets/boards/SensorTest/System/revolution.c
rename to flight/targets/boards/sensortest/System/revolution.c
diff --git a/flight/targets/boards/SensorTest/UAVObjects.inc b/flight/targets/boards/sensortest/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/SensorTest/UAVObjects.inc
rename to flight/targets/boards/sensortest/UAVObjects.inc
diff --git a/flight/targets/boards/SimPosix/Makefile b/flight/targets/boards/simposix/Makefile
similarity index 100%
rename from flight/targets/boards/SimPosix/Makefile
rename to flight/targets/boards/simposix/Makefile
diff --git a/flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig.h b/flight/targets/boards/simposix/System/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/simposix/System/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig_bk.h b/flight/targets/boards/simposix/System/inc/FreeRTOSConfig_bk.h
similarity index 100%
rename from flight/targets/boards/SimPosix/System/inc/FreeRTOSConfig_bk.h
rename to flight/targets/boards/simposix/System/inc/FreeRTOSConfig_bk.h
diff --git a/flight/targets/boards/SimPosix/System/inc/dcc_stdio.h b/flight/targets/boards/simposix/System/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/SimPosix/System/inc/dcc_stdio.h
rename to flight/targets/boards/simposix/System/inc/dcc_stdio.h
diff --git a/flight/targets/boards/SimPosix/System/inc/openpilot.h b/flight/targets/boards/simposix/System/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/SimPosix/System/inc/openpilot.h
rename to flight/targets/boards/simposix/System/inc/openpilot.h
diff --git a/flight/targets/boards/SimPosix/System/inc/pios_config.h b/flight/targets/boards/simposix/System/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/SimPosix/System/inc/pios_config.h
rename to flight/targets/boards/simposix/System/inc/pios_config.h
diff --git a/flight/targets/boards/SimPosix/System/pios_board.c b/flight/targets/boards/simposix/System/pios_board.c
similarity index 100%
rename from flight/targets/boards/SimPosix/System/pios_board.c
rename to flight/targets/boards/simposix/System/pios_board.c
diff --git a/flight/targets/boards/SimPosix/System/simposix.c b/flight/targets/boards/simposix/System/simposix.c
similarity index 100%
rename from flight/targets/boards/SimPosix/System/simposix.c
rename to flight/targets/boards/simposix/System/simposix.c
diff --git a/flight/targets/boards/SimPosix/UAVObjects.inc b/flight/targets/boards/simposix/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/SimPosix/UAVObjects.inc
rename to flight/targets/boards/simposix/UAVObjects.inc

From fce12662bc649efe30e7522c6a4c035bb805c0ca Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 15 Apr 2013 20:19:31 +0300
Subject: [PATCH 097/125] OP-899: move bootloaders under board directories

---
 Makefile                                                      | 4 ++--
 .../coptercontrol/bootloader}/Makefile                        | 0
 .../coptercontrol/bootloader}/inc/common.h                    | 0
 .../coptercontrol/bootloader}/inc/op_dfu.h                    | 0
 .../coptercontrol/bootloader}/inc/pios_config.h               | 0
 .../coptercontrol/bootloader}/inc/pios_usb_board_data.h       | 0
 .../coptercontrol => boards/coptercontrol/bootloader}/main.c  | 0
 .../coptercontrol/bootloader}/op_dfu.c                        | 0
 .../coptercontrol/bootloader}/pios_board.c                    | 0
 .../coptercontrol/bootloader}/pios_usb_board_data.c           | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/Makefile      | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/inc/common.h  | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/inc/op_dfu.h  | 0
 .../oplinkmini/bootloader}/inc/pios_config.h                  | 0
 .../oplinkmini/bootloader}/inc/pios_usb_board_data.h          | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/main.c        | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/op_dfu.c      | 0
 .../oplinkmini => boards/oplinkmini/bootloader}/pios_board.c  | 0
 .../oplinkmini/bootloader}/pios_usb_board_data.c              | 0
 .../{Bootloaders/osd => boards/osd/bootloader}/Makefile       | 0
 .../{Bootloaders/osd => boards/osd/bootloader}/inc/common.h   | 0
 .../{Bootloaders/osd => boards/osd/bootloader}/inc/op_dfu.h   | 0
 .../osd => boards/osd/bootloader}/inc/pios_config.h           | 0
 .../osd => boards/osd/bootloader}/inc/pios_usb_board_data.h   | 0
 .../targets/{Bootloaders/osd => boards/osd/bootloader}/main.c | 0
 .../{Bootloaders/osd => boards/osd/bootloader}/op_dfu.c       | 0
 .../{Bootloaders/osd => boards/osd/bootloader}/pios_board.c   | 0
 .../osd => boards/osd/bootloader}/pios_usb_board_data.c       | 0
 .../revolution => boards/revolution/bootloader}/Makefile      | 0
 .../revolution => boards/revolution/bootloader}/inc/common.h  | 0
 .../revolution => boards/revolution/bootloader}/inc/op_dfu.h  | 0
 .../revolution/bootloader}/inc/pios_config.h                  | 0
 .../revolution/bootloader}/inc/pios_usb_board_data.h          | 0
 .../revolution => boards/revolution/bootloader}/main.c        | 0
 .../revolution => boards/revolution/bootloader}/op_dfu.c      | 0
 .../revolution => boards/revolution/bootloader}/pios_board.c  | 0
 .../revolution/bootloader}/pios_usb_board_data.c              | 0
 .../sensortest => boards/sensortest/bootloader}/Makefile      | 0
 .../sensortest => boards/sensortest/bootloader}/inc/common.h  | 0
 .../sensortest => boards/sensortest/bootloader}/inc/op_dfu.h  | 0
 .../sensortest/bootloader}/inc/pios_config.h                  | 0
 .../sensortest/bootloader}/inc/pios_usb_board_data.h          | 0
 .../sensortest => boards/sensortest/bootloader}/main.c        | 0
 .../sensortest => boards/sensortest/bootloader}/op_dfu.c      | 0
 .../sensortest => boards/sensortest/bootloader}/pios_board.c  | 0
 .../sensortest/bootloader}/pios_usb_board_data.c              | 0
 46 files changed, 2 insertions(+), 2 deletions(-)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/Makefile (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/inc/common.h (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/inc/op_dfu.h (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/inc/pios_config.h (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/main.c (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/op_dfu.c (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/pios_board.c (100%)
 rename flight/targets/{Bootloaders/coptercontrol => boards/coptercontrol/bootloader}/pios_usb_board_data.c (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/Makefile (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/inc/common.h (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/inc/op_dfu.h (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/inc/pios_config.h (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/main.c (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/op_dfu.c (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/pios_board.c (100%)
 rename flight/targets/{Bootloaders/oplinkmini => boards/oplinkmini/bootloader}/pios_usb_board_data.c (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/Makefile (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/inc/common.h (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/inc/op_dfu.h (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/inc/pios_config.h (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/main.c (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/op_dfu.c (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/pios_board.c (100%)
 rename flight/targets/{Bootloaders/osd => boards/osd/bootloader}/pios_usb_board_data.c (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/Makefile (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/inc/common.h (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/inc/op_dfu.h (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/inc/pios_config.h (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/main.c (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/op_dfu.c (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/pios_board.c (100%)
 rename flight/targets/{Bootloaders/revolution => boards/revolution/bootloader}/pios_usb_board_data.c (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/Makefile (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/inc/common.h (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/inc/op_dfu.h (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/inc/pios_config.h (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/main.c (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/op_dfu.c (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/pios_board.c (100%)
 rename flight/targets/{Bootloaders/sensortest => boards/sensortest/bootloader}/pios_usb_board_data.c (100%)

diff --git a/Makefile b/Makefile
index cf1403a49..698c4b08c 100644
--- a/Makefile
+++ b/Makefile
@@ -288,13 +288,13 @@ bl_$(1)_bino: bl_$(1)_bin
 bl_$(1)_%:
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(1) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bl \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(1) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 		OUTDIR=$(BUILD_DIR)/bl_$(1) \
 		TARGET=bl_$(1) \
 		$$*
diff --git a/flight/targets/Bootloaders/coptercontrol/Makefile b/flight/targets/boards/coptercontrol/bootloader/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/Makefile
rename to flight/targets/boards/coptercontrol/bootloader/Makefile
diff --git a/flight/targets/Bootloaders/coptercontrol/inc/common.h b/flight/targets/boards/coptercontrol/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/inc/common.h
rename to flight/targets/boards/coptercontrol/bootloader/inc/common.h
diff --git a/flight/targets/Bootloaders/coptercontrol/inc/op_dfu.h b/flight/targets/boards/coptercontrol/bootloader/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/inc/op_dfu.h
rename to flight/targets/boards/coptercontrol/bootloader/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/coptercontrol/inc/pios_config.h b/flight/targets/boards/coptercontrol/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/inc/pios_config.h
rename to flight/targets/boards/coptercontrol/bootloader/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/coptercontrol/inc/pios_usb_board_data.h b/flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/inc/pios_usb_board_data.h
rename to flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/coptercontrol/main.c b/flight/targets/boards/coptercontrol/bootloader/main.c
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/main.c
rename to flight/targets/boards/coptercontrol/bootloader/main.c
diff --git a/flight/targets/Bootloaders/coptercontrol/op_dfu.c b/flight/targets/boards/coptercontrol/bootloader/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/op_dfu.c
rename to flight/targets/boards/coptercontrol/bootloader/op_dfu.c
diff --git a/flight/targets/Bootloaders/coptercontrol/pios_board.c b/flight/targets/boards/coptercontrol/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/pios_board.c
rename to flight/targets/boards/coptercontrol/bootloader/pios_board.c
diff --git a/flight/targets/Bootloaders/coptercontrol/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/coptercontrol/pios_usb_board_data.c
rename to flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/oplinkmini/Makefile b/flight/targets/boards/oplinkmini/bootloader/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/Makefile
rename to flight/targets/boards/oplinkmini/bootloader/Makefile
diff --git a/flight/targets/Bootloaders/oplinkmini/inc/common.h b/flight/targets/boards/oplinkmini/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/inc/common.h
rename to flight/targets/boards/oplinkmini/bootloader/inc/common.h
diff --git a/flight/targets/Bootloaders/oplinkmini/inc/op_dfu.h b/flight/targets/boards/oplinkmini/bootloader/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/inc/op_dfu.h
rename to flight/targets/boards/oplinkmini/bootloader/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/oplinkmini/inc/pios_config.h b/flight/targets/boards/oplinkmini/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/inc/pios_config.h
rename to flight/targets/boards/oplinkmini/bootloader/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/oplinkmini/inc/pios_usb_board_data.h b/flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/inc/pios_usb_board_data.h
rename to flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/oplinkmini/main.c b/flight/targets/boards/oplinkmini/bootloader/main.c
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/main.c
rename to flight/targets/boards/oplinkmini/bootloader/main.c
diff --git a/flight/targets/Bootloaders/oplinkmini/op_dfu.c b/flight/targets/boards/oplinkmini/bootloader/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/op_dfu.c
rename to flight/targets/boards/oplinkmini/bootloader/op_dfu.c
diff --git a/flight/targets/Bootloaders/oplinkmini/pios_board.c b/flight/targets/boards/oplinkmini/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/pios_board.c
rename to flight/targets/boards/oplinkmini/bootloader/pios_board.c
diff --git a/flight/targets/Bootloaders/oplinkmini/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/oplinkmini/pios_usb_board_data.c
rename to flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/osd/Makefile b/flight/targets/boards/osd/bootloader/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/osd/Makefile
rename to flight/targets/boards/osd/bootloader/Makefile
diff --git a/flight/targets/Bootloaders/osd/inc/common.h b/flight/targets/boards/osd/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/osd/inc/common.h
rename to flight/targets/boards/osd/bootloader/inc/common.h
diff --git a/flight/targets/Bootloaders/osd/inc/op_dfu.h b/flight/targets/boards/osd/bootloader/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/osd/inc/op_dfu.h
rename to flight/targets/boards/osd/bootloader/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/osd/inc/pios_config.h b/flight/targets/boards/osd/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/osd/inc/pios_config.h
rename to flight/targets/boards/osd/bootloader/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/osd/inc/pios_usb_board_data.h b/flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/osd/inc/pios_usb_board_data.h
rename to flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/osd/main.c b/flight/targets/boards/osd/bootloader/main.c
similarity index 100%
rename from flight/targets/Bootloaders/osd/main.c
rename to flight/targets/boards/osd/bootloader/main.c
diff --git a/flight/targets/Bootloaders/osd/op_dfu.c b/flight/targets/boards/osd/bootloader/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/osd/op_dfu.c
rename to flight/targets/boards/osd/bootloader/op_dfu.c
diff --git a/flight/targets/Bootloaders/osd/pios_board.c b/flight/targets/boards/osd/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/osd/pios_board.c
rename to flight/targets/boards/osd/bootloader/pios_board.c
diff --git a/flight/targets/Bootloaders/osd/pios_usb_board_data.c b/flight/targets/boards/osd/bootloader/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/osd/pios_usb_board_data.c
rename to flight/targets/boards/osd/bootloader/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/revolution/Makefile b/flight/targets/boards/revolution/bootloader/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/revolution/Makefile
rename to flight/targets/boards/revolution/bootloader/Makefile
diff --git a/flight/targets/Bootloaders/revolution/inc/common.h b/flight/targets/boards/revolution/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/revolution/inc/common.h
rename to flight/targets/boards/revolution/bootloader/inc/common.h
diff --git a/flight/targets/Bootloaders/revolution/inc/op_dfu.h b/flight/targets/boards/revolution/bootloader/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/revolution/inc/op_dfu.h
rename to flight/targets/boards/revolution/bootloader/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/revolution/inc/pios_config.h b/flight/targets/boards/revolution/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/revolution/inc/pios_config.h
rename to flight/targets/boards/revolution/bootloader/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/revolution/inc/pios_usb_board_data.h b/flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/revolution/inc/pios_usb_board_data.h
rename to flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/revolution/main.c b/flight/targets/boards/revolution/bootloader/main.c
similarity index 100%
rename from flight/targets/Bootloaders/revolution/main.c
rename to flight/targets/boards/revolution/bootloader/main.c
diff --git a/flight/targets/Bootloaders/revolution/op_dfu.c b/flight/targets/boards/revolution/bootloader/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/revolution/op_dfu.c
rename to flight/targets/boards/revolution/bootloader/op_dfu.c
diff --git a/flight/targets/Bootloaders/revolution/pios_board.c b/flight/targets/boards/revolution/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/revolution/pios_board.c
rename to flight/targets/boards/revolution/bootloader/pios_board.c
diff --git a/flight/targets/Bootloaders/revolution/pios_usb_board_data.c b/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/revolution/pios_usb_board_data.c
rename to flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
diff --git a/flight/targets/Bootloaders/sensortest/Makefile b/flight/targets/boards/sensortest/bootloader/Makefile
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/Makefile
rename to flight/targets/boards/sensortest/bootloader/Makefile
diff --git a/flight/targets/Bootloaders/sensortest/inc/common.h b/flight/targets/boards/sensortest/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/inc/common.h
rename to flight/targets/boards/sensortest/bootloader/inc/common.h
diff --git a/flight/targets/Bootloaders/sensortest/inc/op_dfu.h b/flight/targets/boards/sensortest/bootloader/inc/op_dfu.h
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/inc/op_dfu.h
rename to flight/targets/boards/sensortest/bootloader/inc/op_dfu.h
diff --git a/flight/targets/Bootloaders/sensortest/inc/pios_config.h b/flight/targets/boards/sensortest/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/inc/pios_config.h
rename to flight/targets/boards/sensortest/bootloader/inc/pios_config.h
diff --git a/flight/targets/Bootloaders/sensortest/inc/pios_usb_board_data.h b/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/inc/pios_usb_board_data.h
rename to flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/Bootloaders/sensortest/main.c b/flight/targets/boards/sensortest/bootloader/main.c
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/main.c
rename to flight/targets/boards/sensortest/bootloader/main.c
diff --git a/flight/targets/Bootloaders/sensortest/op_dfu.c b/flight/targets/boards/sensortest/bootloader/op_dfu.c
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/op_dfu.c
rename to flight/targets/boards/sensortest/bootloader/op_dfu.c
diff --git a/flight/targets/Bootloaders/sensortest/pios_board.c b/flight/targets/boards/sensortest/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/pios_board.c
rename to flight/targets/boards/sensortest/bootloader/pios_board.c
diff --git a/flight/targets/Bootloaders/sensortest/pios_usb_board_data.c b/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/Bootloaders/sensortest/pios_usb_board_data.c
rename to flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c

From f7f842687a1dc10cdfbb83b87dec7d1184433a1f Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@os-linux.local>
Date: Mon, 15 Apr 2013 21:47:23 +0300
Subject: [PATCH 098/125] OP-899: rename System to firmware and move Makefile
 into it

---
 Makefile                                             |  4 ++--
 .../boards/coptercontrol/{ => firmware}/Makefile     |  0
 .../{System => firmware}/coptercontrol.c             |  0
 .../{System => firmware}/inc/FreeRTOSConfig.h        |  0
 .../{System => firmware}/inc/openpilot.h             |  0
 .../{System => firmware}/inc/pios_board_posix.h      |  0
 .../{System => firmware}/inc/pios_config.h           |  0
 .../{System => firmware}/inc/pios_config_posix.h     |  0
 .../{System => firmware}/inc/pios_usb_board_data.h   |  0
 .../coptercontrol/{System => firmware}/pios_board.c  |  0
 .../{System => firmware}/pios_board_posix.c          |  0
 .../{System => firmware}/pios_usb_board_data.c       |  0
 .../boards/oplinkmini/{ => firmware}/Makefile        |  0
 .../{System => firmware}/inc/FreeRTOSConfig.h        |  0
 .../oplinkmini/{System => firmware}/inc/openpilot.h  |  0
 .../{System => firmware}/inc/pios_board_posix.h      |  0
 .../{System => firmware}/inc/pios_config.h           |  0
 .../{System => firmware}/inc/pios_config_posix.h     |  0
 .../{System => firmware}/inc/pios_usb_board_data.h   |  0
 .../boards/oplinkmini/{System => firmware}/oplink.c  |  0
 .../oplinkmini/{System => firmware}/pios_board.c     |  0
 .../{System => firmware}/pios_board_posix.c          |  0
 .../{System => firmware}/pios_usb_board_data.c       |  0
 flight/targets/boards/osd/{ => firmware}/Makefile    |  0
 .../osd/{System => firmware}/cm3_fault_handlers.c    |  0
 .../boards/osd/{System => firmware}/dcc_stdio.c      |  0
 .../osd/{System => firmware}/font_outlined8x14.c     |  0
 .../osd/{System => firmware}/font_outlined8x8.c      |  0
 .../targets/boards/osd/{System => firmware}/fonts.c  |  0
 .../osd/{System => firmware}/inc/FreeRTOSConfig.h    |  0
 .../boards/osd/{System => firmware}/inc/dcc_stdio.h  |  0
 .../boards/osd/{System => firmware}/inc/font12x18.h  |  0
 .../boards/osd/{System => firmware}/inc/font8x10.h   |  0
 .../osd/{System => firmware}/inc/font_outlined8x14.h |  0
 .../osd/{System => firmware}/inc/font_outlined8x8.h  |  0
 .../boards/osd/{System => firmware}/inc/fonts.h      |  0
 .../boards/osd/{System => firmware}/inc/openpilot.h  |  0
 .../osd/{System => firmware}/inc/pios_config.h       |  0
 .../{System => firmware}/inc/pios_usb_board_data.h   |  0
 .../boards/osd/{System => firmware}/inc/splash.h     |  0
 flight/targets/boards/osd/{System => firmware}/osd.c |  0
 .../boards/osd/{System => firmware}/pios_board.c     |  0
 .../osd/{System => firmware}/pios_usb_board_data.c   |  0
 .../boards/revolution/{ => firmware}/Makefile        |  0
 .../boards/revolution/{ => firmware}/Makefile.osx    |  0
 .../boards/revolution/{ => firmware}/UAVObjects.inc  |  0
 .../{System => firmware}/cm3_fault_handlers.c        |  0
 .../revolution/{System => firmware}/dcc_stdio.c      |  0
 .../{System => firmware}/inc/FreeRTOSConfig.h        |  0
 .../revolution/{System => firmware}/inc/dcc_stdio.h  |  0
 .../revolution/{System => firmware}/inc/openpilot.h  |  0
 .../{System => firmware}/inc/pios_board_sim.h        |  0
 .../{System => firmware}/inc/pios_config.h           |  0
 .../{System => firmware}/inc/pios_config_sim.h       |  0
 .../{System => firmware}/inc/pios_usb_board_data.h   |  0
 .../revolution/{System => firmware}/pios_board.c     |  0
 .../revolution/{System => firmware}/pios_board_sim.c |  0
 .../{System => firmware}/pios_usb_board_data.c       |  0
 .../revolution/{System => firmware}/revolution.c     |  0
 .../boards/sensortest/{ => firmware}/Makefile        |  0
 .../boards/sensortest/{ => firmware}/Makefile.osx    |  0
 .../boards/sensortest/{ => firmware}/UAVObjects.inc  |  0
 .../{System => firmware}/cm3_fault_handlers.c        |  0
 .../sensortest/{System => firmware}/dcc_stdio.c      |  0
 .../{System => firmware}/inc/FreeRTOSConfig.h        |  0
 .../sensortest/{System => firmware}/inc/dcc_stdio.h  |  0
 .../sensortest/{System => firmware}/inc/openpilot.h  |  0
 .../{System => firmware}/inc/pios_board_sim.h        |  0
 .../{System => firmware}/inc/pios_config.h           |  0
 .../{System => firmware}/inc/pios_config_sim.h       |  0
 .../{System => firmware}/inc/pios_usb_board_data.h   |  0
 .../sensortest/{System => firmware}/pios_board.c     |  0
 .../sensortest/{System => firmware}/pios_board_sim.c |  0
 .../{System => firmware}/pios_usb_board_data.c       |  0
 .../sensortest/{System => firmware}/revolution.c     |  0
 .../targets/boards/simposix/{ => firmware}/Makefile  | 12 ++++++------
 .../boards/simposix/{ => firmware}/UAVObjects.inc    |  0
 .../{System => firmware}/inc/FreeRTOSConfig.h        |  0
 .../{System => firmware}/inc/FreeRTOSConfig_bk.h     |  0
 .../simposix/{System => firmware}/inc/dcc_stdio.h    |  0
 .../simposix/{System => firmware}/inc/openpilot.h    |  0
 .../simposix/{System => firmware}/inc/pios_config.h  |  0
 .../simposix/{System => firmware}/pios_board.c       |  0
 .../boards/simposix/{System => firmware}/simposix.c  |  0
 make/apps-defs.mk                                    |  2 +-
 85 files changed, 9 insertions(+), 9 deletions(-)
 rename flight/targets/boards/coptercontrol/{ => firmware}/Makefile (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/coptercontrol.c (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/pios_board_posix.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/pios_config_posix.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/pios_board_posix.c (100%)
 rename flight/targets/boards/coptercontrol/{System => firmware}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/oplinkmini/{ => firmware}/Makefile (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/pios_board_posix.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/pios_config_posix.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/oplink.c (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/pios_board_posix.c (100%)
 rename flight/targets/boards/oplinkmini/{System => firmware}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/osd/{ => firmware}/Makefile (100%)
 rename flight/targets/boards/osd/{System => firmware}/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/dcc_stdio.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/font_outlined8x14.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/font_outlined8x8.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/fonts.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/font12x18.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/font8x10.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/font_outlined8x14.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/font_outlined8x8.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/fonts.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/inc/splash.h (100%)
 rename flight/targets/boards/osd/{System => firmware}/osd.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/osd/{System => firmware}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/revolution/{ => firmware}/Makefile (100%)
 rename flight/targets/boards/revolution/{ => firmware}/Makefile.osx (100%)
 rename flight/targets/boards/revolution/{ => firmware}/UAVObjects.inc (100%)
 rename flight/targets/boards/revolution/{System => firmware}/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/revolution/{System => firmware}/dcc_stdio.c (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/pios_board_sim.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/pios_config_sim.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/revolution/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/revolution/{System => firmware}/pios_board_sim.c (100%)
 rename flight/targets/boards/revolution/{System => firmware}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/revolution/{System => firmware}/revolution.c (100%)
 rename flight/targets/boards/sensortest/{ => firmware}/Makefile (100%)
 rename flight/targets/boards/sensortest/{ => firmware}/Makefile.osx (100%)
 rename flight/targets/boards/sensortest/{ => firmware}/UAVObjects.inc (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/dcc_stdio.c (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/pios_board_sim.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/pios_config_sim.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/pios_board_sim.c (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/pios_usb_board_data.c (100%)
 rename flight/targets/boards/sensortest/{System => firmware}/revolution.c (100%)
 rename flight/targets/boards/simposix/{ => firmware}/Makefile (98%)
 rename flight/targets/boards/simposix/{ => firmware}/UAVObjects.inc (100%)
 rename flight/targets/boards/simposix/{System => firmware}/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/simposix/{System => firmware}/inc/FreeRTOSConfig_bk.h (100%)
 rename flight/targets/boards/simposix/{System => firmware}/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/simposix/{System => firmware}/inc/openpilot.h (100%)
 rename flight/targets/boards/simposix/{System => firmware}/inc/pios_config.h (100%)
 rename flight/targets/boards/simposix/{System => firmware}/pios_board.c (100%)
 rename flight/targets/boards/simposix/{System => firmware}/simposix.c (100%)

diff --git a/Makefile b/Makefile
index 698c4b08c..543b5720f 100644
--- a/Makefile
+++ b/Makefile
@@ -260,13 +260,13 @@ fw_$(1): fw_$(1)_opfw
 fw_$(1)_%: uavobjects_flight
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=fw \
 		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 		OUTDIR=$(BUILD_DIR)/fw_$(1) \
 		TARGET=fw_$(1) \
 		$$*
diff --git a/flight/targets/boards/coptercontrol/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/coptercontrol/Makefile
rename to flight/targets/boards/coptercontrol/firmware/Makefile
diff --git a/flight/targets/boards/coptercontrol/System/coptercontrol.c b/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/coptercontrol.c
rename to flight/targets/boards/coptercontrol/firmware/coptercontrol.c
diff --git a/flight/targets/boards/coptercontrol/System/inc/FreeRTOSConfig.h b/flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/coptercontrol/System/inc/openpilot.h b/flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/openpilot.h
rename to flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/coptercontrol/System/inc/pios_board_posix.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/pios_board_posix.h
rename to flight/targets/boards/coptercontrol/firmware/inc/pios_board_posix.h
diff --git a/flight/targets/boards/coptercontrol/System/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/pios_config.h
rename to flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/coptercontrol/System/inc/pios_config_posix.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/pios_config_posix.h
rename to flight/targets/boards/coptercontrol/firmware/inc/pios_config_posix.h
diff --git a/flight/targets/boards/coptercontrol/System/inc/pios_usb_board_data.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/coptercontrol/System/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/pios_board.c
rename to flight/targets/boards/coptercontrol/firmware/pios_board.c
diff --git a/flight/targets/boards/coptercontrol/System/pios_board_posix.c b/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/pios_board_posix.c
rename to flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
diff --git a/flight/targets/boards/coptercontrol/System/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/coptercontrol/System/pios_usb_board_data.c
rename to flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
diff --git a/flight/targets/boards/oplinkmini/Makefile b/flight/targets/boards/oplinkmini/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/oplinkmini/Makefile
rename to flight/targets/boards/oplinkmini/firmware/Makefile
diff --git a/flight/targets/boards/oplinkmini/System/inc/FreeRTOSConfig.h b/flight/targets/boards/oplinkmini/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/oplinkmini/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/oplinkmini/System/inc/openpilot.h b/flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/openpilot.h
rename to flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/oplinkmini/System/inc/pios_board_posix.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_board_posix.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/pios_board_posix.h
rename to flight/targets/boards/oplinkmini/firmware/inc/pios_board_posix.h
diff --git a/flight/targets/boards/oplinkmini/System/inc/pios_config.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/pios_config.h
rename to flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/oplinkmini/System/inc/pios_config_posix.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_config_posix.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/pios_config_posix.h
rename to flight/targets/boards/oplinkmini/firmware/inc/pios_config_posix.h
diff --git a/flight/targets/boards/oplinkmini/System/inc/pios_usb_board_data.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/oplinkmini/System/oplink.c b/flight/targets/boards/oplinkmini/firmware/oplink.c
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/oplink.c
rename to flight/targets/boards/oplinkmini/firmware/oplink.c
diff --git a/flight/targets/boards/oplinkmini/System/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/pios_board.c
rename to flight/targets/boards/oplinkmini/firmware/pios_board.c
diff --git a/flight/targets/boards/oplinkmini/System/pios_board_posix.c b/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/pios_board_posix.c
rename to flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
diff --git a/flight/targets/boards/oplinkmini/System/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/oplinkmini/System/pios_usb_board_data.c
rename to flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
diff --git a/flight/targets/boards/osd/Makefile b/flight/targets/boards/osd/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/osd/Makefile
rename to flight/targets/boards/osd/firmware/Makefile
diff --git a/flight/targets/boards/osd/System/cm3_fault_handlers.c b/flight/targets/boards/osd/firmware/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/osd/System/cm3_fault_handlers.c
rename to flight/targets/boards/osd/firmware/cm3_fault_handlers.c
diff --git a/flight/targets/boards/osd/System/dcc_stdio.c b/flight/targets/boards/osd/firmware/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/osd/System/dcc_stdio.c
rename to flight/targets/boards/osd/firmware/dcc_stdio.c
diff --git a/flight/targets/boards/osd/System/font_outlined8x14.c b/flight/targets/boards/osd/firmware/font_outlined8x14.c
similarity index 100%
rename from flight/targets/boards/osd/System/font_outlined8x14.c
rename to flight/targets/boards/osd/firmware/font_outlined8x14.c
diff --git a/flight/targets/boards/osd/System/font_outlined8x8.c b/flight/targets/boards/osd/firmware/font_outlined8x8.c
similarity index 100%
rename from flight/targets/boards/osd/System/font_outlined8x8.c
rename to flight/targets/boards/osd/firmware/font_outlined8x8.c
diff --git a/flight/targets/boards/osd/System/fonts.c b/flight/targets/boards/osd/firmware/fonts.c
similarity index 100%
rename from flight/targets/boards/osd/System/fonts.c
rename to flight/targets/boards/osd/firmware/fonts.c
diff --git a/flight/targets/boards/osd/System/inc/FreeRTOSConfig.h b/flight/targets/boards/osd/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/osd/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/osd/System/inc/dcc_stdio.h b/flight/targets/boards/osd/firmware/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/dcc_stdio.h
rename to flight/targets/boards/osd/firmware/inc/dcc_stdio.h
diff --git a/flight/targets/boards/osd/System/inc/font12x18.h b/flight/targets/boards/osd/firmware/inc/font12x18.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/font12x18.h
rename to flight/targets/boards/osd/firmware/inc/font12x18.h
diff --git a/flight/targets/boards/osd/System/inc/font8x10.h b/flight/targets/boards/osd/firmware/inc/font8x10.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/font8x10.h
rename to flight/targets/boards/osd/firmware/inc/font8x10.h
diff --git a/flight/targets/boards/osd/System/inc/font_outlined8x14.h b/flight/targets/boards/osd/firmware/inc/font_outlined8x14.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/font_outlined8x14.h
rename to flight/targets/boards/osd/firmware/inc/font_outlined8x14.h
diff --git a/flight/targets/boards/osd/System/inc/font_outlined8x8.h b/flight/targets/boards/osd/firmware/inc/font_outlined8x8.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/font_outlined8x8.h
rename to flight/targets/boards/osd/firmware/inc/font_outlined8x8.h
diff --git a/flight/targets/boards/osd/System/inc/fonts.h b/flight/targets/boards/osd/firmware/inc/fonts.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/fonts.h
rename to flight/targets/boards/osd/firmware/inc/fonts.h
diff --git a/flight/targets/boards/osd/System/inc/openpilot.h b/flight/targets/boards/osd/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/openpilot.h
rename to flight/targets/boards/osd/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/osd/System/inc/pios_config.h b/flight/targets/boards/osd/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/pios_config.h
rename to flight/targets/boards/osd/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/osd/System/inc/pios_usb_board_data.h b/flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/osd/System/inc/splash.h b/flight/targets/boards/osd/firmware/inc/splash.h
similarity index 100%
rename from flight/targets/boards/osd/System/inc/splash.h
rename to flight/targets/boards/osd/firmware/inc/splash.h
diff --git a/flight/targets/boards/osd/System/osd.c b/flight/targets/boards/osd/firmware/osd.c
similarity index 100%
rename from flight/targets/boards/osd/System/osd.c
rename to flight/targets/boards/osd/firmware/osd.c
diff --git a/flight/targets/boards/osd/System/pios_board.c b/flight/targets/boards/osd/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/osd/System/pios_board.c
rename to flight/targets/boards/osd/firmware/pios_board.c
diff --git a/flight/targets/boards/osd/System/pios_usb_board_data.c b/flight/targets/boards/osd/firmware/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/osd/System/pios_usb_board_data.c
rename to flight/targets/boards/osd/firmware/pios_usb_board_data.c
diff --git a/flight/targets/boards/revolution/Makefile b/flight/targets/boards/revolution/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/revolution/Makefile
rename to flight/targets/boards/revolution/firmware/Makefile
diff --git a/flight/targets/boards/revolution/Makefile.osx b/flight/targets/boards/revolution/firmware/Makefile.osx
similarity index 100%
rename from flight/targets/boards/revolution/Makefile.osx
rename to flight/targets/boards/revolution/firmware/Makefile.osx
diff --git a/flight/targets/boards/revolution/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/revolution/UAVObjects.inc
rename to flight/targets/boards/revolution/firmware/UAVObjects.inc
diff --git a/flight/targets/boards/revolution/System/cm3_fault_handlers.c b/flight/targets/boards/revolution/firmware/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/revolution/System/cm3_fault_handlers.c
rename to flight/targets/boards/revolution/firmware/cm3_fault_handlers.c
diff --git a/flight/targets/boards/revolution/System/dcc_stdio.c b/flight/targets/boards/revolution/firmware/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/revolution/System/dcc_stdio.c
rename to flight/targets/boards/revolution/firmware/dcc_stdio.c
diff --git a/flight/targets/boards/revolution/System/inc/FreeRTOSConfig.h b/flight/targets/boards/revolution/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/revolution/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/revolution/System/inc/dcc_stdio.h b/flight/targets/boards/revolution/firmware/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/dcc_stdio.h
rename to flight/targets/boards/revolution/firmware/inc/dcc_stdio.h
diff --git a/flight/targets/boards/revolution/System/inc/openpilot.h b/flight/targets/boards/revolution/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/openpilot.h
rename to flight/targets/boards/revolution/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/revolution/System/inc/pios_board_sim.h b/flight/targets/boards/revolution/firmware/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/pios_board_sim.h
rename to flight/targets/boards/revolution/firmware/inc/pios_board_sim.h
diff --git a/flight/targets/boards/revolution/System/inc/pios_config.h b/flight/targets/boards/revolution/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/pios_config.h
rename to flight/targets/boards/revolution/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/revolution/System/inc/pios_config_sim.h b/flight/targets/boards/revolution/firmware/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/pios_config_sim.h
rename to flight/targets/boards/revolution/firmware/inc/pios_config_sim.h
diff --git a/flight/targets/boards/revolution/System/inc/pios_usb_board_data.h b/flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/revolution/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/revolution/System/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/revolution/System/pios_board.c
rename to flight/targets/boards/revolution/firmware/pios_board.c
diff --git a/flight/targets/boards/revolution/System/pios_board_sim.c b/flight/targets/boards/revolution/firmware/pios_board_sim.c
similarity index 100%
rename from flight/targets/boards/revolution/System/pios_board_sim.c
rename to flight/targets/boards/revolution/firmware/pios_board_sim.c
diff --git a/flight/targets/boards/revolution/System/pios_usb_board_data.c b/flight/targets/boards/revolution/firmware/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/revolution/System/pios_usb_board_data.c
rename to flight/targets/boards/revolution/firmware/pios_usb_board_data.c
diff --git a/flight/targets/boards/revolution/System/revolution.c b/flight/targets/boards/revolution/firmware/revolution.c
similarity index 100%
rename from flight/targets/boards/revolution/System/revolution.c
rename to flight/targets/boards/revolution/firmware/revolution.c
diff --git a/flight/targets/boards/sensortest/Makefile b/flight/targets/boards/sensortest/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/sensortest/Makefile
rename to flight/targets/boards/sensortest/firmware/Makefile
diff --git a/flight/targets/boards/sensortest/Makefile.osx b/flight/targets/boards/sensortest/firmware/Makefile.osx
similarity index 100%
rename from flight/targets/boards/sensortest/Makefile.osx
rename to flight/targets/boards/sensortest/firmware/Makefile.osx
diff --git a/flight/targets/boards/sensortest/UAVObjects.inc b/flight/targets/boards/sensortest/firmware/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/sensortest/UAVObjects.inc
rename to flight/targets/boards/sensortest/firmware/UAVObjects.inc
diff --git a/flight/targets/boards/sensortest/System/cm3_fault_handlers.c b/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/cm3_fault_handlers.c
rename to flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
diff --git a/flight/targets/boards/sensortest/System/dcc_stdio.c b/flight/targets/boards/sensortest/firmware/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/dcc_stdio.c
rename to flight/targets/boards/sensortest/firmware/dcc_stdio.c
diff --git a/flight/targets/boards/sensortest/System/inc/FreeRTOSConfig.h b/flight/targets/boards/sensortest/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/sensortest/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/sensortest/System/inc/dcc_stdio.h b/flight/targets/boards/sensortest/firmware/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/dcc_stdio.h
rename to flight/targets/boards/sensortest/firmware/inc/dcc_stdio.h
diff --git a/flight/targets/boards/sensortest/System/inc/openpilot.h b/flight/targets/boards/sensortest/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/openpilot.h
rename to flight/targets/boards/sensortest/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/sensortest/System/inc/pios_board_sim.h b/flight/targets/boards/sensortest/firmware/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/pios_board_sim.h
rename to flight/targets/boards/sensortest/firmware/inc/pios_board_sim.h
diff --git a/flight/targets/boards/sensortest/System/inc/pios_config.h b/flight/targets/boards/sensortest/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/pios_config.h
rename to flight/targets/boards/sensortest/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/sensortest/System/inc/pios_config_sim.h b/flight/targets/boards/sensortest/firmware/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/pios_config_sim.h
rename to flight/targets/boards/sensortest/firmware/inc/pios_config_sim.h
diff --git a/flight/targets/boards/sensortest/System/inc/pios_usb_board_data.h b/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/sensortest/System/inc/pios_usb_board_data.h
rename to flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/sensortest/System/pios_board.c b/flight/targets/boards/sensortest/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/pios_board.c
rename to flight/targets/boards/sensortest/firmware/pios_board.c
diff --git a/flight/targets/boards/sensortest/System/pios_board_sim.c b/flight/targets/boards/sensortest/firmware/pios_board_sim.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/pios_board_sim.c
rename to flight/targets/boards/sensortest/firmware/pios_board_sim.c
diff --git a/flight/targets/boards/sensortest/System/pios_usb_board_data.c b/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/pios_usb_board_data.c
rename to flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
diff --git a/flight/targets/boards/sensortest/System/revolution.c b/flight/targets/boards/sensortest/firmware/revolution.c
similarity index 100%
rename from flight/targets/boards/sensortest/System/revolution.c
rename to flight/targets/boards/sensortest/firmware/revolution.c
diff --git a/flight/targets/boards/simposix/Makefile b/flight/targets/boards/simposix/firmware/Makefile
similarity index 98%
rename from flight/targets/boards/simposix/Makefile
rename to flight/targets/boards/simposix/firmware/Makefile
index e56cb7bad..5679a5870 100644
--- a/flight/targets/boards/simposix/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -41,15 +41,15 @@ MODULES += FirmwareIAP
 #MODULES += OveroSync
 
 # Paths
-OPSYSTEM = ./System
+OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
-OPUAVTALK = ../../UAVTalk
+OPUAVTALK = ../../../UAVTalk
 OPUAVTALKINC = $(OPUAVTALK)/inc
-OPUAVOBJ = ../../UAVObjects
+OPUAVOBJ = ../../../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 PIOSINC = $(PIOS)/inc
-OPMODULEDIR = ../../../Modules
-FLIGHTLIB = ../../../Libraries
+OPMODULEDIR = ../../../../Modules
+FLIGHTLIB = ../../../../Libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
 MATHLIB = $(FLIGHTLIB)/math
 MATHLIBINC = $(FLIGHTLIB)/math
@@ -59,7 +59,7 @@ PIOSBOARDS = $(PIOS)/Boards
 PIOSCOMMONLIB = $(PIOS)/Common/Libraries
 BOOT = 
 BOOTINC = 
-HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
+HWDEFSINC = ../../../board_hw_defs/$(BOARD_NAME)
 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 # optional component libraries
diff --git a/flight/targets/boards/simposix/UAVObjects.inc b/flight/targets/boards/simposix/firmware/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/simposix/UAVObjects.inc
rename to flight/targets/boards/simposix/firmware/UAVObjects.inc
diff --git a/flight/targets/boards/simposix/System/inc/FreeRTOSConfig.h b/flight/targets/boards/simposix/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/simposix/System/inc/FreeRTOSConfig.h
rename to flight/targets/boards/simposix/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/simposix/System/inc/FreeRTOSConfig_bk.h b/flight/targets/boards/simposix/firmware/inc/FreeRTOSConfig_bk.h
similarity index 100%
rename from flight/targets/boards/simposix/System/inc/FreeRTOSConfig_bk.h
rename to flight/targets/boards/simposix/firmware/inc/FreeRTOSConfig_bk.h
diff --git a/flight/targets/boards/simposix/System/inc/dcc_stdio.h b/flight/targets/boards/simposix/firmware/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/simposix/System/inc/dcc_stdio.h
rename to flight/targets/boards/simposix/firmware/inc/dcc_stdio.h
diff --git a/flight/targets/boards/simposix/System/inc/openpilot.h b/flight/targets/boards/simposix/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/simposix/System/inc/openpilot.h
rename to flight/targets/boards/simposix/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/simposix/System/inc/pios_config.h b/flight/targets/boards/simposix/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/simposix/System/inc/pios_config.h
rename to flight/targets/boards/simposix/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/simposix/System/pios_board.c b/flight/targets/boards/simposix/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/simposix/System/pios_board.c
rename to flight/targets/boards/simposix/firmware/pios_board.c
diff --git a/flight/targets/boards/simposix/System/simposix.c b/flight/targets/boards/simposix/firmware/simposix.c
similarity index 100%
rename from flight/targets/boards/simposix/System/simposix.c
rename to flight/targets/boards/simposix/firmware/simposix.c
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 1f23dc493..fa34fee36 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -22,7 +22,7 @@ endif
 
 # Paths
 TOPDIR		= .
-OPSYSTEM	= $(TOPDIR)/System
+OPSYSTEM	= $(TOPDIR)
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common

From 393b37fa7acb137f25eb68d85b9e064f48ec1e7c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 16 Apr 2013 16:57:11 +0300
Subject: [PATCH 099/125] OP-899: move board-info.mk from make/boards to board
 directories

---
 {make => flight/targets}/boards/coptercontrol/board-info.mk | 0
 flight/targets/boards/coptercontrol/bootloader/Makefile     | 2 +-
 flight/targets/boards/coptercontrol/firmware/Makefile       | 2 +-
 {make => flight/targets}/boards/oplinkmini/board-info.mk    | 0
 flight/targets/boards/oplinkmini/bootloader/Makefile        | 2 +-
 flight/targets/boards/oplinkmini/firmware/Makefile          | 2 +-
 {make => flight/targets}/boards/osd/board-info.mk           | 0
 flight/targets/boards/osd/bootloader/Makefile               | 2 +-
 flight/targets/boards/osd/firmware/Makefile                 | 2 +-
 {make => flight/targets}/boards/revolution/board-info.mk    | 0
 flight/targets/boards/revolution/bootloader/Makefile        | 2 +-
 flight/targets/boards/revolution/firmware/Makefile          | 2 +-
 {make => flight/targets}/boards/sensortest/board-info.mk    | 0
 flight/targets/boards/sensortest/bootloader/Makefile        | 2 +-
 flight/targets/boards/sensortest/firmware/Makefile          | 2 +-
 {make => flight/targets}/boards/simposix/board-info.mk      | 0
 flight/targets/boards/simposix/firmware/Makefile            | 2 +-
 17 files changed, 11 insertions(+), 11 deletions(-)
 rename {make => flight/targets}/boards/coptercontrol/board-info.mk (100%)
 rename {make => flight/targets}/boards/oplinkmini/board-info.mk (100%)
 rename {make => flight/targets}/boards/osd/board-info.mk (100%)
 rename {make => flight/targets}/boards/revolution/board-info.mk (100%)
 rename {make => flight/targets}/boards/sensortest/board-info.mk (100%)
 rename {make => flight/targets}/boards/simposix/board-info.mk (100%)

diff --git a/make/boards/coptercontrol/board-info.mk b/flight/targets/boards/coptercontrol/board-info.mk
similarity index 100%
rename from make/boards/coptercontrol/board-info.mk
rename to flight/targets/boards/coptercontrol/board-info.mk
diff --git a/flight/targets/boards/coptercontrol/bootloader/Makefile b/flight/targets/boards/coptercontrol/bootloader/Makefile
index bdfea5986..bca8a4cd8 100644
--- a/flight/targets/boards/coptercontrol/bootloader/Makefile
+++ b/flight/targets/boards/coptercontrol/bootloader/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/coptercontrol/firmware/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile
index 361616210..08061757d 100644
--- a/flight/targets/boards/coptercontrol/firmware/Makefile
+++ b/flight/targets/boards/coptercontrol/firmware/Makefile
@@ -21,7 +21,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
diff --git a/make/boards/oplinkmini/board-info.mk b/flight/targets/boards/oplinkmini/board-info.mk
similarity index 100%
rename from make/boards/oplinkmini/board-info.mk
rename to flight/targets/boards/oplinkmini/board-info.mk
diff --git a/flight/targets/boards/oplinkmini/bootloader/Makefile b/flight/targets/boards/oplinkmini/bootloader/Makefile
index e6a37c2e4..1c52470cb 100644
--- a/flight/targets/boards/oplinkmini/bootloader/Makefile
+++ b/flight/targets/boards/oplinkmini/bootloader/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/oplinkmini/firmware/Makefile b/flight/targets/boards/oplinkmini/firmware/Makefile
index 599ea4ce9..dc7aa53e0 100644
--- a/flight/targets/boards/oplinkmini/firmware/Makefile
+++ b/flight/targets/boards/oplinkmini/firmware/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
diff --git a/make/boards/osd/board-info.mk b/flight/targets/boards/osd/board-info.mk
similarity index 100%
rename from make/boards/osd/board-info.mk
rename to flight/targets/boards/osd/board-info.mk
diff --git a/flight/targets/boards/osd/bootloader/Makefile b/flight/targets/boards/osd/bootloader/Makefile
index ed5d04928..e046f6e80 100644
--- a/flight/targets/boards/osd/bootloader/Makefile
+++ b/flight/targets/boards/osd/bootloader/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index af54fafc8..53404e2fd 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
diff --git a/make/boards/revolution/board-info.mk b/flight/targets/boards/revolution/board-info.mk
similarity index 100%
rename from make/boards/revolution/board-info.mk
rename to flight/targets/boards/revolution/board-info.mk
diff --git a/flight/targets/boards/revolution/bootloader/Makefile b/flight/targets/boards/revolution/bootloader/Makefile
index ed5d04928..e046f6e80 100644
--- a/flight/targets/boards/revolution/bootloader/Makefile
+++ b/flight/targets/boards/revolution/bootloader/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/revolution/firmware/Makefile b/flight/targets/boards/revolution/firmware/Makefile
index 958c575c1..a9de50a75 100644
--- a/flight/targets/boards/revolution/firmware/Makefile
+++ b/flight/targets/boards/revolution/firmware/Makefile
@@ -21,7 +21,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
diff --git a/make/boards/sensortest/board-info.mk b/flight/targets/boards/sensortest/board-info.mk
similarity index 100%
rename from make/boards/sensortest/board-info.mk
rename to flight/targets/boards/sensortest/board-info.mk
diff --git a/flight/targets/boards/sensortest/bootloader/Makefile b/flight/targets/boards/sensortest/bootloader/Makefile
index ed5d04928..e046f6e80 100644
--- a/flight/targets/boards/sensortest/bootloader/Makefile
+++ b/flight/targets/boards/sensortest/bootloader/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/sensortest/firmware/Makefile b/flight/targets/boards/sensortest/firmware/Makefile
index 8de424358..522992243 100644
--- a/flight/targets/boards/sensortest/firmware/Makefile
+++ b/flight/targets/boards/sensortest/firmware/Makefile
@@ -21,7 +21,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
diff --git a/make/boards/simposix/board-info.mk b/flight/targets/boards/simposix/board-info.mk
similarity index 100%
rename from make/boards/simposix/board-info.mk
rename to flight/targets/boards/simposix/board-info.mk
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index 5679a5870..3d200e6f3 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -23,8 +23,8 @@
 override ARM_SDK_PREFIX :=
 override THUMB :=
 
+include ../board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 
 # Set developer code and compile options
 # Set to YES for debugging

From 1dd20eca3353c8e63f56160197527840bae7156c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 16 Apr 2013 23:03:08 +0300
Subject: [PATCH 100/125] OP-899: move board_hw_defs.c under board directories
 and fix some includes

---
 Makefile                                      |  4 ---
 flight/Libraries/alarms.c                     |  2 +-
 flight/Libraries/inc/alarms.h                 |  2 +-
 flight/Libraries/insgps16state.c              |  0
 .../coptercontrol/board_hw_defs.c             |  2 --
 .../bootloader/inc/pios_usb_board_data.h      |  2 +-
 .../boards/coptercontrol/bootloader/main.c    | 13 +++++-----
 .../boards/coptercontrol/bootloader/op_dfu.c  | 10 +++----
 .../coptercontrol/bootloader/pios_board.c     | 12 +++++----
 .../bootloader/pios_usb_board_data.c          |  8 +++---
 .../coptercontrol/firmware/coptercontrol.c    | 10 +++----
 .../coptercontrol/firmware/inc/openpilot.h    | 14 +++++-----
 .../firmware/inc/pios_usb_board_data.h        |  2 +-
 .../coptercontrol/firmware/pios_board.c       | 23 ++++++++--------
 .../coptercontrol/firmware/pios_board_posix.c |  3 +--
 .../firmware/pios_usb_board_data.c            |  8 +++---
 .../oplinkmini/board_hw_defs.c                |  2 --
 .../bootloader/inc/pios_usb_board_data.h      |  2 +-
 .../boards/oplinkmini/bootloader/main.c       | 13 +++++-----
 .../boards/oplinkmini/bootloader/op_dfu.c     | 10 +++----
 .../boards/oplinkmini/bootloader/pios_board.c | 12 ++++++++-
 .../bootloader/pios_usb_board_data.c          |  8 +++---
 .../oplinkmini/firmware/inc/openpilot.h       | 12 ++++-----
 .../firmware/inc/pios_usb_board_data.h        |  2 +-
 .../boards/oplinkmini/firmware/oplink.c       | 10 +++----
 .../boards/oplinkmini/firmware/pios_board.c   | 15 ++++++++---
 .../oplinkmini/firmware/pios_board_posix.c    |  3 +--
 .../oplinkmini/firmware/pios_usb_board_data.c |  8 +++---
 .../osd/board_hw_defs.c                       |  2 --
 .../osd/bootloader/inc/pios_usb_board_data.h  |  2 +-
 flight/targets/boards/osd/bootloader/main.c   | 13 +++++-----
 flight/targets/boards/osd/bootloader/op_dfu.c | 12 ++++-----
 .../boards/osd/bootloader/pios_board.c        | 11 ++++----
 .../osd/bootloader/pios_usb_board_data.c      |  8 +++---
 .../boards/osd/firmware/cm3_fault_handlers.c  |  6 ++---
 .../targets/boards/osd/firmware/dcc_stdio.c   |  2 +-
 flight/targets/boards/osd/firmware/fonts.c    |  2 +-
 .../boards/osd/firmware/inc/openpilot.h       | 13 +++++-----
 .../osd/firmware/inc/pios_usb_board_data.h    |  2 +-
 flight/targets/boards/osd/firmware/osd.c      |  6 ++---
 .../targets/boards/osd/firmware/pios_board.c  | 26 +++++++++----------
 .../boards/osd/firmware/pios_usb_board_data.c |  8 +++---
 .../revolution/board_hw_defs.c                |  2 --
 .../bootloader/inc/pios_usb_board_data.h      |  2 +-
 .../boards/revolution/bootloader/main.c       | 13 +++++-----
 .../boards/revolution/bootloader/op_dfu.c     | 12 ++++-----
 .../boards/revolution/bootloader/pios_board.c | 13 +++++-----
 .../bootloader/pios_usb_board_data.c          |  8 +++---
 .../revolution/firmware/cm3_fault_handlers.c  |  6 ++---
 .../boards/revolution/firmware/dcc_stdio.c    |  2 +-
 .../revolution/firmware/inc/openpilot.h       | 12 ++++-----
 .../firmware/inc/pios_usb_board_data.h        |  2 +-
 .../boards/revolution/firmware/pios_board.c   | 19 +++++++-------
 .../revolution/firmware/pios_board_sim.c      | 22 +++++++---------
 .../revolution/firmware/pios_usb_board_data.c |  8 +++---
 .../boards/revolution/firmware/revolution.c   |  7 +++--
 .../sensortest/board_hw_defs.c                |  2 --
 .../bootloader/inc/pios_usb_board_data.h      |  2 +-
 .../boards/sensortest/bootloader/main.c       | 13 +++++-----
 .../boards/sensortest/bootloader/op_dfu.c     | 12 ++++-----
 .../boards/sensortest/bootloader/pios_board.c | 13 +++++-----
 .../bootloader/pios_usb_board_data.c          |  8 +++---
 .../sensortest/firmware/cm3_fault_handlers.c  |  6 ++---
 .../boards/sensortest/firmware/dcc_stdio.c    |  2 +-
 .../sensortest/firmware/inc/openpilot.h       | 12 ++++-----
 .../firmware/inc/pios_usb_board_data.h        |  2 +-
 .../boards/sensortest/firmware/pios_board.c   | 19 +++++++-------
 .../sensortest/firmware/pios_board_sim.c      | 22 +++++++---------
 .../sensortest/firmware/pios_usb_board_data.c |  8 +++---
 .../boards/sensortest/firmware/revolution.c   |  8 +++---
 .../simposix/board_hw_defs.c                  |  1 -
 .../targets/boards/simposix/firmware/Makefile |  2 --
 .../boards/simposix/firmware/inc/openpilot.h  | 12 ++++-----
 .../boards/simposix/firmware/pios_board.c     | 19 +++++++++-----
 .../boards/simposix/firmware/simposix.c       |  8 +++---
 .../common/bootloader_updater/Makefile        |  5 ++--
 .../targets/common/bootloader_updater/main.c  |  4 +--
 .../common/bootloader_updater/pios_board.c    |  9 ++++---
 flight/targets/common/entire_flash/Makefile   |  2 +-
 make/apps-defs.mk                             |  1 -
 make/boot-defs.mk                             |  1 -
 81 files changed, 324 insertions(+), 322 deletions(-)
 mode change 100755 => 100644 flight/Libraries/insgps16state.c
 rename flight/targets/{board_hw_defs => boards}/coptercontrol/board_hw_defs.c (99%)
 rename flight/targets/{board_hw_defs => boards}/oplinkmini/board_hw_defs.c (99%)
 rename flight/targets/{board_hw_defs => boards}/osd/board_hw_defs.c (99%)
 rename flight/targets/{board_hw_defs => boards}/revolution/board_hw_defs.c (99%)
 rename flight/targets/{board_hw_defs => boards}/sensortest/board_hw_defs.c (99%)
 rename flight/targets/{board_hw_defs => boards}/simposix/board_hw_defs.c (98%)

diff --git a/Makefile b/Makefile
index 543b5720f..2e97e05aa 100644
--- a/Makefile
+++ b/Makefile
@@ -192,7 +192,6 @@ export FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
 export OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
 export OPUAVOBJ      := $(ROOT_DIR)/flight/targets/UAVObjects
 export OPUAVTALK     := $(ROOT_DIR)/flight/targets/UAVTalk
-export HWDEFS        := $(ROOT_DIR)/flight/targets/board_hw_defs
 export DOXYGENDIR    := $(ROOT_DIR)/flight/Doc/Doxygen
 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
@@ -265,7 +264,6 @@ fw_$(1)_%: uavobjects_flight
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=fw \
-		HWDEFSINC=$(HWDEFS)/$(1) \
 		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 		OUTDIR=$(BUILD_DIR)/fw_$(1) \
 		TARGET=fw_$(1) \
@@ -293,7 +291,6 @@ bl_$(1)_%:
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bl \
-		HWDEFSINC=$(HWDEFS)/$(1) \
 		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 		OUTDIR=$(BUILD_DIR)/bl_$(1) \
 		TARGET=bl_$(1) \
@@ -332,7 +329,6 @@ bu_$(1)_%: bl_$(1)_bino
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bu \
-		HWDEFSINC=$(HWDEFS)/$(1) \
 		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 		OUTDIR=$(BUILD_DIR)/bu_$(1) \
 		TARGET=bu_$(1) \
diff --git a/flight/Libraries/alarms.c b/flight/Libraries/alarms.c
index 78238a3bf..54899e986 100644
--- a/flight/Libraries/alarms.c
+++ b/flight/Libraries/alarms.c
@@ -27,7 +27,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
 #include "inc/alarms.h"
 
 // Private constants
diff --git a/flight/Libraries/inc/alarms.h b/flight/Libraries/inc/alarms.h
index e91a3be55..8bb4b8873 100644
--- a/flight/Libraries/inc/alarms.h
+++ b/flight/Libraries/inc/alarms.h
@@ -28,7 +28,7 @@
 #ifndef ALARMS_H
 #define ALARMS_H
 
-#include "systemalarms.h"
+#include <systemalarms.h>
 #define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
 
 int32_t AlarmsInitialize(void);
diff --git a/flight/Libraries/insgps16state.c b/flight/Libraries/insgps16state.c
old mode 100755
new mode 100644
diff --git a/flight/targets/board_hw_defs/coptercontrol/board_hw_defs.c b/flight/targets/boards/coptercontrol/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/coptercontrol/board_hw_defs.c
rename to flight/targets/boards/coptercontrol/board_hw_defs.c
index 368084a5c..f8819c725 100644
--- a/flight/targets/board_hw_defs/coptercontrol/board_hw_defs.c
+++ b/flight/targets/boards/coptercontrol/board_hw_defs.c
@@ -24,8 +24,6 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include <pios_config.h>
-#include <pios_board_info.h>
 
 #define BOARD_REVISION_CC   1
 #define BOARD_REVISION_CC3D 2
diff --git a/flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
index addb24f19..47d7d8255 100644
--- a/flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
@@ -35,7 +35,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 2
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include <pios_usb_defs.h> 	/* struct usb_* */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL)
diff --git a/flight/targets/boards/coptercontrol/bootloader/main.c b/flight/targets/boards/coptercontrol/bootloader/main.c
index ef1ccb240..446c736ca 100644
--- a/flight/targets/boards/coptercontrol/bootloader/main.c
+++ b/flight/targets/boards/coptercontrol/bootloader/main.c
@@ -25,14 +25,15 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
 #include <pios_board_info.h>
-#include "op_dfu.h"
-#include "usb_lib.h"
-#include "pios_iap.h"
-#include "fifo_buffer.h"
-#include "pios_com_msg.h"
+#include "inc/op_dfu.h"
+#include <usb_lib.h>
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
diff --git a/flight/targets/boards/coptercontrol/bootloader/op_dfu.c b/flight/targets/boards/coptercontrol/bootloader/op_dfu.c
index 75c2bd832..45ac71ac8 100644
--- a/flight/targets/boards/coptercontrol/bootloader/op_dfu.c
+++ b/flight/targets/boards/coptercontrol/bootloader/op_dfu.c
@@ -26,12 +26,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
+#include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_bl_helper.h>
+#include <pios_com_msg.h>
+
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
diff --git a/flight/targets/boards/coptercontrol/bootloader/pios_board.c b/flight/targets/boards/coptercontrol/bootloader/pios_board.c
index 4104c4028..e24a08c75 100644
--- a/flight/targets/boards/coptercontrol/bootloader/pios_board.c
+++ b/flight/targets/boards/coptercontrol/bootloader/pios_board.c
@@ -23,16 +23,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-#include <pios_board_info.h>
-#include <pios.h>
+#include "../board_hw_defs.c"
 
 uint32_t pios_com_telem_usb_id;
 
diff --git a/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
index 1993320d4..67c19e6c3 100644
--- a/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
+++ b/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[28] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/coptercontrol/firmware/coptercontrol.c b/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
index 916718ea5..585500bc1 100644
--- a/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
+++ b/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
@@ -31,12 +31,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* OpenPilot Includes */
-#include "openpilot.h"
-#include "uavobjectsinit.h"
-#include "hwsettings.h"
-#include "systemmod.h"
+#include "inc/openpilot.h"
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <systemmod.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/openpilot.h b/flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
index eb3cadcc7..58420e789 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
@@ -26,26 +26,26 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
 
 #endif /* OPENPILOT_H */
+
 /**
  * @}
  * @}
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
index 2dcb5f845..63439dcbb 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
@@ -37,7 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* USB_* macros */
+#include <pios_usb_defs.h> 	/* USB_* macros */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW)
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 86ee24309..1216149f1 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -25,22 +25,22 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
- * Including .c files is a bit ugly but this allows all of
- * the HW definitions to be const and static to limit their
- * scope.  
- *
- * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
- */
-
-#include <openpilot.h>
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
 #include <uavobjectsinit.h>
 #include <hwsettings.h>
 #include <manualcontrolsettings.h>
 #include <gcsreceiver.h>
 
-#include "board_hw_defs.c"
-
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
 
 /* One slot per selectable receiver group.
  *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
@@ -125,7 +125,6 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 
-#include <pios_board_info.h>
 /**
  * PIOS_Board_Init()
  * initializes all the core subsystems on this specific hardware
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c b/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
index 30f949830..d567a7436 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
@@ -23,10 +23,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
+#include "inc/openpilot.h"
 #include <pios_udp_priv.h>
 #include <pios_com_priv.h>
-#include <openpilot.h>
 #include <uavobjectsinit.h>
 
 /**
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
index 1993320d4..67c19e6c3 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[28] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/board_hw_defs/oplinkmini/board_hw_defs.c b/flight/targets/boards/oplinkmini/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/oplinkmini/board_hw_defs.c
rename to flight/targets/boards/oplinkmini/board_hw_defs.c
index b47c78f1b..e0926a433 100644
--- a/flight/targets/board_hw_defs/oplinkmini/board_hw_defs.c
+++ b/flight/targets/boards/oplinkmini/board_hw_defs.c
@@ -1,5 +1,3 @@
-#include <pios_config.h>
-#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
diff --git a/flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
index 68793f4a8..ae6704b6e 100644
--- a/flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
@@ -35,7 +35,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 2
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include <pios_usb_defs.h> 	/* struct usb_* */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPLINK
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPLINK, USB_OP_BOARD_MODE_BL)
diff --git a/flight/targets/boards/oplinkmini/bootloader/main.c b/flight/targets/boards/oplinkmini/bootloader/main.c
index a7757f63b..02fcb161d 100644
--- a/flight/targets/boards/oplinkmini/bootloader/main.c
+++ b/flight/targets/boards/oplinkmini/bootloader/main.c
@@ -25,14 +25,15 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
 #include <pios_board_info.h>
-#include "op_dfu.h"
-#include "usb_lib.h"
-#include "pios_iap.h"
-#include "fifo_buffer.h"
-#include "pios_com_msg.h"
+#include "inc/op_dfu.h"
+#include <usb_lib.h>
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
diff --git a/flight/targets/boards/oplinkmini/bootloader/op_dfu.c b/flight/targets/boards/oplinkmini/bootloader/op_dfu.c
index fbbed86aa..ab5402dad 100644
--- a/flight/targets/boards/oplinkmini/bootloader/op_dfu.c
+++ b/flight/targets/boards/oplinkmini/bootloader/op_dfu.c
@@ -26,12 +26,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
+#include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_bl_helper.h>
+#include <pios_com_msg.h>
+
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
diff --git a/flight/targets/boards/oplinkmini/bootloader/pios_board.c b/flight/targets/boards/oplinkmini/bootloader/pios_board.c
index 893dc35f9..f91f6a456 100644
--- a/flight/targets/boards/oplinkmini/bootloader/pios_board.c
+++ b/flight/targets/boards/oplinkmini/bootloader/pios_board.c
@@ -23,8 +23,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "board_hw_defs.c"
 #include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
 
 uint32_t pios_com_telem_usb_id;
 
diff --git a/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
index c2e0c8762..070d8c392 100644
--- a/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
+++ b/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[20] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/oplinkmini/firmware/inc/openpilot.h b/flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
index eb3cadcc7..c77374ecc 100644
--- a/flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
+++ b/flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
@@ -30,17 +30,17 @@
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
diff --git a/flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
index 342cf0ecc..4ce97dfcc 100644
--- a/flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
@@ -37,7 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* USB_* macros */
+#include <pios_usb_defs.h> 	/* USB_* macros */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPLINK
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPLINK, USB_OP_BOARD_MODE_FW)
diff --git a/flight/targets/boards/oplinkmini/firmware/oplink.c b/flight/targets/boards/oplinkmini/firmware/oplink.c
index 7dfd28a96..80c60c2c3 100644
--- a/flight/targets/boards/oplinkmini/firmware/oplink.c
+++ b/flight/targets/boards/oplinkmini/firmware/oplink.c
@@ -31,12 +31,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* OpenPilot Includes */
-#include "openpilot.h"
-#include "uavobjectsinit.h"
-#include "hwsettings.h"
-#include "systemmod.h"
+#include "inc/openpilot.h"
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <systemmod.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
index 8db6b8703..3146beb14 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board.c
@@ -27,10 +27,19 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
-#include <openpilot.h>
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
 #include <oplinksettings.h>
-#include <board_hw_defs.c>
+
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
 
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c b/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
index 30f949830..d567a7436 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
@@ -23,10 +23,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
+#include "inc/openpilot.h"
 #include <pios_udp_priv.h>
 #include <pios_com_priv.h>
-#include <openpilot.h>
 #include <uavobjectsinit.h>
 
 /**
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
index c2e0c8762..070d8c392 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[20] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/board_hw_defs/osd/board_hw_defs.c b/flight/targets/boards/osd/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/osd/board_hw_defs.c
rename to flight/targets/boards/osd/board_hw_defs.c
index 9f32b5613..4731a490d 100644
--- a/flight/targets/board_hw_defs/osd/board_hw_defs.c
+++ b/flight/targets/boards/osd/board_hw_defs.c
@@ -26,8 +26,6 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include <pios_config.h>
-#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
diff --git a/flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
index aef0cabf2..fe9072b8c 100644
--- a/flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
@@ -35,7 +35,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 2
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include <pios_usb_defs.h> 	/* struct usb_* */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OSD
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OSD, USB_OP_BOARD_MODE_BL)
diff --git a/flight/targets/boards/osd/bootloader/main.c b/flight/targets/boards/osd/bootloader/main.c
index 98515fb1f..a0b364326 100644
--- a/flight/targets/boards/osd/bootloader/main.c
+++ b/flight/targets/boards/osd/bootloader/main.c
@@ -25,15 +25,16 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+#include <pios_usbhook.h>	/* PIOS_USBHOOK_* */
 #include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_iap.h"
-#include "fifo_buffer.h"
-#include "pios_com_msg.h"
-#include "pios_usbhook.h"	/* PIOS_USBHOOK_* */
+
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
diff --git a/flight/targets/boards/osd/bootloader/op_dfu.c b/flight/targets/boards/osd/bootloader/op_dfu.c
index 16281dd4d..75be8feb1 100644
--- a/flight/targets/boards/osd/bootloader/op_dfu.c
+++ b/flight/targets/boards/osd/bootloader/op_dfu.c
@@ -26,13 +26,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
+#include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_bl_helper.h>
+#include <pios_com_msg.h>
+#include <stdbool.h>
+
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
diff --git a/flight/targets/boards/osd/bootloader/pios_board.c b/flight/targets/boards/osd/bootloader/pios_board.c
index 463c745f6..bca178733 100644
--- a/flight/targets/boards/osd/bootloader/pios_board.c
+++ b/flight/targets/boards/osd/bootloader/pios_board.c
@@ -23,17 +23,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
  * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-
-#include <pios_board_info.h>
-#include <pios.h>
+#include "../board_hw_defs.c"
 
 uint32_t pios_com_telem_usb_id;
 
diff --git a/flight/targets/boards/osd/bootloader/pios_usb_board_data.c b/flight/targets/boards/osd/bootloader/pios_usb_board_data.c
index f97156afd..6e5e087cf 100644
--- a/flight/targets/boards/osd/bootloader/pios_usb_board_data.c
+++ b/flight/targets/boards/osd/bootloader/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[8] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/osd/firmware/cm3_fault_handlers.c b/flight/targets/boards/osd/firmware/cm3_fault_handlers.c
index af26e2ad9..e59e3b79a 100644
--- a/flight/targets/boards/osd/firmware/cm3_fault_handlers.c
+++ b/flight/targets/boards/osd/firmware/cm3_fault_handlers.c
@@ -6,12 +6,12 @@
  */
 
 #include <stdint.h>
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 #ifdef STM32F4XX
-# include "stm32f4xx.h"
+# include <stm32f4xx.h>
 #endif
 #ifdef STM32F2XX
-# include "stm32f2xx.h"
+# include <stm32f2xx.h>
 #endif
 
 #define FAULT_TRAMPOLINE(_vec)										\
diff --git a/flight/targets/boards/osd/firmware/dcc_stdio.c b/flight/targets/boards/osd/firmware/dcc_stdio.c
index bf5bd85ad..102dd70a1 100644
--- a/flight/targets/boards/osd/firmware/dcc_stdio.c
+++ b/flight/targets/boards/osd/firmware/dcc_stdio.c
@@ -22,7 +22,7 @@
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
 
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 
 #define TARGET_REQ_TRACEMSG					0x00
 #define TARGET_REQ_DEBUGMSG_ASCII			0x01
diff --git a/flight/targets/boards/osd/firmware/fonts.c b/flight/targets/boards/osd/firmware/fonts.c
index 8f1805bc9..d7fe657e1 100644
--- a/flight/targets/boards/osd/firmware/fonts.c
+++ b/flight/targets/boards/osd/firmware/fonts.c
@@ -17,7 +17,7 @@
  * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  */
 
-#include "fonts.h"
+#include "inc/fonts.h"
 
 // Font table. Add new fonts here. The table must end with a -1 for the id.
 struct FontEntry fonts[NUM_FONTS + 1] = {
diff --git a/flight/targets/boards/osd/firmware/inc/openpilot.h b/flight/targets/boards/osd/firmware/inc/openpilot.h
index eb3cadcc7..be91a9846 100644
--- a/flight/targets/boards/osd/firmware/inc/openpilot.h
+++ b/flight/targets/boards/osd/firmware/inc/openpilot.h
@@ -26,21 +26,20 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
diff --git a/flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
index 73c0f9e2e..867849949 100644
--- a/flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
@@ -37,7 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* USB_* macros */
+#include <pios_usb_defs.h> 	/* USB_* macros */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OSD
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OSD, USB_OP_BOARD_MODE_FW)
diff --git a/flight/targets/boards/osd/firmware/osd.c b/flight/targets/boards/osd/firmware/osd.c
index 90b7ab7b0..a75ab23ff 100644
--- a/flight/targets/boards/osd/firmware/osd.c
+++ b/flight/targets/boards/osd/firmware/osd.c
@@ -30,13 +30,11 @@
 //#define USE_WATCHDOG                    // comment this out if you don't want to use the watchdog
 
 // *****************************************************************************
-// OpenPilot Includes
 
+#include "inc/openpilot.h"
+#include <systemmod.h>
 #include <string.h>
 
-#include "openpilot.h"
-#include "systemmod.h"
-
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
 
diff --git a/flight/targets/boards/osd/firmware/pios_board.c b/flight/targets/boards/osd/firmware/pios_board.c
index eef8e6756..927a7160d 100644
--- a/flight/targets/boards/osd/firmware/pios_board.c
+++ b/flight/targets/boards/osd/firmware/pios_board.c
@@ -23,30 +23,30 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
- * Including .c files is a bit ugly but this allows all of
- * the HW definitions to be const and static to limit their
- * scope.  
- *
- * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
- */
-#include "board_hw_defs.c"
-
-#include <pios.h>
-#include <fifo_buffer.h>
-#include <openpilot.h>
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
 #include <uavobjectsinit.h>
 #include <hwsettings.h>
 #include <manualcontrolsettings.h>
 #include <gcsreceiver.h>
 
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
+
 /* Private macro -------------------------------------------------------------*/
 #define countof(a)   (sizeof(a) / sizeof(*(a)))
 
 /* Private variables ---------------------------------------------------------*/
 
 #if defined(PIOS_INCLUDE_ADC)
-#include "pios_adc_priv.h"
+#include <pios_adc_priv.h>
 void PIOS_ADC_DMC_irq_handler(void);
 void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
 struct pios_adc_cfg pios_adc_cfg = {
diff --git a/flight/targets/boards/osd/firmware/pios_usb_board_data.c b/flight/targets/boards/osd/firmware/pios_usb_board_data.c
index f97156afd..6e5e087cf 100644
--- a/flight/targets/boards/osd/firmware/pios_usb_board_data.c
+++ b/flight/targets/boards/osd/firmware/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[8] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/board_hw_defs/revolution/board_hw_defs.c b/flight/targets/boards/revolution/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/revolution/board_hw_defs.c
rename to flight/targets/boards/revolution/board_hw_defs.c
index d652cc898..5b54627a3 100644
--- a/flight/targets/board_hw_defs/revolution/board_hw_defs.c
+++ b/flight/targets/boards/revolution/board_hw_defs.c
@@ -24,8 +24,6 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include <pios_config.h>
-#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
diff --git a/flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
index ac75b8cfa..eb00a55be 100644
--- a/flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
@@ -35,7 +35,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 2
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include <pios_usb_defs.h> 	/* struct usb_* */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_BL)
diff --git a/flight/targets/boards/revolution/bootloader/main.c b/flight/targets/boards/revolution/bootloader/main.c
index f644836f4..5525629ba 100644
--- a/flight/targets/boards/revolution/bootloader/main.c
+++ b/flight/targets/boards/revolution/bootloader/main.c
@@ -25,15 +25,16 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+#include <pios_usbhook.h>	/* PIOS_USBHOOK_* */
 #include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_iap.h"
-#include "fifo_buffer.h"
-#include "pios_com_msg.h"
-#include "pios_usbhook.h"	/* PIOS_USBHOOK_* */
+
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
diff --git a/flight/targets/boards/revolution/bootloader/op_dfu.c b/flight/targets/boards/revolution/bootloader/op_dfu.c
index 16281dd4d..75be8feb1 100644
--- a/flight/targets/boards/revolution/bootloader/op_dfu.c
+++ b/flight/targets/boards/revolution/bootloader/op_dfu.c
@@ -26,13 +26,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
+#include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_bl_helper.h>
+#include <pios_com_msg.h>
+#include <stdbool.h>
+
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
diff --git a/flight/targets/boards/revolution/bootloader/pios_board.c b/flight/targets/boards/revolution/bootloader/pios_board.c
index e6152f687..5b2280389 100644
--- a/flight/targets/boards/revolution/bootloader/pios_board.c
+++ b/flight/targets/boards/revolution/bootloader/pios_board.c
@@ -23,17 +23,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-
-#include <pios_board_info.h>
-#include <pios.h>
+#include "../board_hw_defs.c"
 
 uint32_t pios_com_telem_usb_id;
 
diff --git a/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c b/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
index 0fb67116d..df136bab4 100644
--- a/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
+++ b/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/revolution/firmware/cm3_fault_handlers.c b/flight/targets/boards/revolution/firmware/cm3_fault_handlers.c
index af26e2ad9..e59e3b79a 100644
--- a/flight/targets/boards/revolution/firmware/cm3_fault_handlers.c
+++ b/flight/targets/boards/revolution/firmware/cm3_fault_handlers.c
@@ -6,12 +6,12 @@
  */
 
 #include <stdint.h>
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 #ifdef STM32F4XX
-# include "stm32f4xx.h"
+# include <stm32f4xx.h>
 #endif
 #ifdef STM32F2XX
-# include "stm32f2xx.h"
+# include <stm32f2xx.h>
 #endif
 
 #define FAULT_TRAMPOLINE(_vec)										\
diff --git a/flight/targets/boards/revolution/firmware/dcc_stdio.c b/flight/targets/boards/revolution/firmware/dcc_stdio.c
index bf5bd85ad..102dd70a1 100644
--- a/flight/targets/boards/revolution/firmware/dcc_stdio.c
+++ b/flight/targets/boards/revolution/firmware/dcc_stdio.c
@@ -22,7 +22,7 @@
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
 
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 
 #define TARGET_REQ_TRACEMSG					0x00
 #define TARGET_REQ_DEBUGMSG_ASCII			0x01
diff --git a/flight/targets/boards/revolution/firmware/inc/openpilot.h b/flight/targets/boards/revolution/firmware/inc/openpilot.h
index eb3cadcc7..c77374ecc 100644
--- a/flight/targets/boards/revolution/firmware/inc/openpilot.h
+++ b/flight/targets/boards/revolution/firmware/inc/openpilot.h
@@ -30,17 +30,17 @@
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
diff --git a/flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h
index 0e5dd8181..b4b42536a 100644
--- a/flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/revolution/firmware/inc/pios_usb_board_data.h
@@ -37,7 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* USB_* macros */
+#include <pios_usb_defs.h> 	/* USB_* macros */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW)
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index b29004192..01ce5390d 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -25,20 +25,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <manualcontrolsettings.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-
-#include <pios.h>
-#include <openpilot.h>
-#include <uavobjectsinit.h>
-#include "hwsettings.h"
-#include "manualcontrolsettings.h"
+#include "../board_hw_defs.c"
 
 #if defined(PIOS_INCLUDE_RFM22B)
 // Forward declarations
diff --git a/flight/targets/boards/revolution/firmware/pios_board_sim.c b/flight/targets/boards/revolution/firmware/pios_board_sim.c
index 07ae969fb..f58f9523e 100644
--- a/flight/targets/boards/revolution/firmware/pios_board_sim.c
+++ b/flight/targets/boards/revolution/firmware/pios_board_sim.c
@@ -23,23 +23,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
+#include "inc/openpilot.h"
 #include <pios_com_priv.h>
 #include <pios_tcp_priv.h>
 #include <pios_udp_priv.h>
-#include <openpilot.h>
+#include <pios_rcvr_priv.h>
+#include <pios_gcsrcvr_priv.h>
 #include <uavobjectsinit.h>
 
-#include "accels.h"
-#include "baroaltitude.h"
-#include "gpsposition.h"
-#include "gyros.h"
-#include "gyrosbias.h"
-#include "magnetometer.h"
-#include "manualcontrolsettings.h"
-
-#include "pios_rcvr_priv.h"
-#include "pios_gcsrcvr_priv.h"
+#include <accels.h>
+#include <baroaltitude.h>
+#include <gpsposition.h>
+#include <gyros.h>
+#include <gyrosbias.h>
+#include <magnetometer.h>
+#include <manualcontrolsettings.h>
 
 void Stack_Change() {
 }
diff --git a/flight/targets/boards/revolution/firmware/pios_usb_board_data.c b/flight/targets/boards/revolution/firmware/pios_usb_board_data.c
index 0fb67116d..df136bab4 100644
--- a/flight/targets/boards/revolution/firmware/pios_usb_board_data.c
+++ b/flight/targets/boards/revolution/firmware/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/revolution/firmware/revolution.c b/flight/targets/boards/revolution/firmware/revolution.c
index 7adcbf8d6..9fc06d518 100644
--- a/flight/targets/boards/revolution/firmware/revolution.c
+++ b/flight/targets/boards/revolution/firmware/revolution.c
@@ -32,10 +32,9 @@
  */
 
 
-/* OpenPilot Includes */
-#include "openpilot.h"
-#include "uavobjectsinit.h"
-#include "systemmod.h"
+#include "inc/openpilot.h"
+#include <systemmod.h>
+#include <uavobjectsinit.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/board_hw_defs/sensortest/board_hw_defs.c b/flight/targets/boards/sensortest/board_hw_defs.c
similarity index 99%
rename from flight/targets/board_hw_defs/sensortest/board_hw_defs.c
rename to flight/targets/boards/sensortest/board_hw_defs.c
index 642f06052..ed39f2864 100644
--- a/flight/targets/board_hw_defs/sensortest/board_hw_defs.c
+++ b/flight/targets/boards/sensortest/board_hw_defs.c
@@ -24,8 +24,6 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include <pios_config.h>
-#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
diff --git a/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
index ac75b8cfa..eb00a55be 100644
--- a/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
@@ -35,7 +35,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 2
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include <pios_usb_defs.h> 	/* struct usb_* */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_BL)
diff --git a/flight/targets/boards/sensortest/bootloader/main.c b/flight/targets/boards/sensortest/bootloader/main.c
index f644836f4..5525629ba 100644
--- a/flight/targets/boards/sensortest/bootloader/main.c
+++ b/flight/targets/boards/sensortest/bootloader/main.c
@@ -25,15 +25,16 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+#include <pios_usbhook.h>	/* PIOS_USBHOOK_* */
 #include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_iap.h"
-#include "fifo_buffer.h"
-#include "pios_com_msg.h"
-#include "pios_usbhook.h"	/* PIOS_USBHOOK_* */
+
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
diff --git a/flight/targets/boards/sensortest/bootloader/op_dfu.c b/flight/targets/boards/sensortest/bootloader/op_dfu.c
index 16281dd4d..75be8feb1 100644
--- a/flight/targets/boards/sensortest/bootloader/op_dfu.c
+++ b/flight/targets/boards/sensortest/bootloader/op_dfu.c
@@ -26,13 +26,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Includes ------------------------------------------------------------------*/
-#include "pios.h"
-#include <stdbool.h>
-#include "op_dfu.h"
-#include "pios_bl_helper.h"
-#include "pios_com_msg.h"
+#include <pios.h>
 #include <pios_board_info.h>
+#include "inc/op_dfu.h"
+#include <pios_bl_helper.h>
+#include <pios_com_msg.h>
+#include <stdbool.h>
+
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
diff --git a/flight/targets/boards/sensortest/bootloader/pios_board.c b/flight/targets/boards/sensortest/bootloader/pios_board.c
index 143124ade..bca178733 100644
--- a/flight/targets/boards/sensortest/bootloader/pios_board.c
+++ b/flight/targets/boards/sensortest/bootloader/pios_board.c
@@ -23,17 +23,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-
-#include <pios_board_info.h>
-#include <pios.h>
+#include "../board_hw_defs.c"
 
 uint32_t pios_com_telem_usb_id;
 
diff --git a/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c b/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
index 0fb67116d..df136bab4 100644
--- a/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
+++ b/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c b/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
index af26e2ad9..e59e3b79a 100644
--- a/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
+++ b/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
@@ -6,12 +6,12 @@
  */
 
 #include <stdint.h>
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 #ifdef STM32F4XX
-# include "stm32f4xx.h"
+# include <stm32f4xx.h>
 #endif
 #ifdef STM32F2XX
-# include "stm32f2xx.h"
+# include <stm32f2xx.h>
 #endif
 
 #define FAULT_TRAMPOLINE(_vec)										\
diff --git a/flight/targets/boards/sensortest/firmware/dcc_stdio.c b/flight/targets/boards/sensortest/firmware/dcc_stdio.c
index bf5bd85ad..102dd70a1 100644
--- a/flight/targets/boards/sensortest/firmware/dcc_stdio.c
+++ b/flight/targets/boards/sensortest/firmware/dcc_stdio.c
@@ -22,7 +22,7 @@
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
 
-#include "dcc_stdio.h"
+#include "inc/dcc_stdio.h"
 
 #define TARGET_REQ_TRACEMSG					0x00
 #define TARGET_REQ_DEBUGMSG_ASCII			0x01
diff --git a/flight/targets/boards/sensortest/firmware/inc/openpilot.h b/flight/targets/boards/sensortest/firmware/inc/openpilot.h
index eb3cadcc7..c77374ecc 100644
--- a/flight/targets/boards/sensortest/firmware/inc/openpilot.h
+++ b/flight/targets/boards/sensortest/firmware/inc/openpilot.h
@@ -30,17 +30,17 @@
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
diff --git a/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
index 0e5dd8181..b4b42536a 100644
--- a/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
+++ b/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
@@ -37,7 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* USB_* macros */
+#include <pios_usb_defs.h> 	/* USB_* macros */
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW)
diff --git a/flight/targets/boards/sensortest/firmware/pios_board.c b/flight/targets/boards/sensortest/firmware/pios_board.c
index f68118801..4647d8c1a 100644
--- a/flight/targets/boards/sensortest/firmware/pios_board.c
+++ b/flight/targets/boards/sensortest/firmware/pios_board.c
@@ -25,20 +25,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-/* Pull in the board-specific static HW definitions.
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <manualcontrolsettings.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-
-#include <openpilot.h>
-#include <uavobjectsinit.h>
-#include "hwsettings.h"
-#include "manualcontrolsettings.h"
-
-#include "board_hw_defs.c"
+#include "../board_hw_defs.c"
 
 /**
  * Sensor configurations 
diff --git a/flight/targets/boards/sensortest/firmware/pios_board_sim.c b/flight/targets/boards/sensortest/firmware/pios_board_sim.c
index 186683df6..61bc4d70f 100644
--- a/flight/targets/boards/sensortest/firmware/pios_board_sim.c
+++ b/flight/targets/boards/sensortest/firmware/pios_board_sim.c
@@ -23,23 +23,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
+#include "inc/openpilot.h"
 #include <pios_com_priv.h>
 #include <pios_tcp_priv.h>
 #include <pios_udp_priv.h>
-#include <openpilot.h>
+#include <pios_rcvr_priv.h>
+#include <pios_gcsrcvr_priv.h>
 #include <uavobjectsinit.h>
 
-#include "accels.h"
-#include "baroaltitude.h"
-#include "gpsposition.h"
-#include "gyros.h"
-#include "gyrosbias.h"
-#include "magnetometer.h"
-#include "manualcontrolsettings.h"
-
-#include "pios_rcvr_priv.h"
-#include "pios_gcsrcvr_priv.h"
+#include <accels.h>
+#include <baroaltitude.h>
+#include <gpsposition.h>
+#include <gyros.h>
+#include <gyrosbias.h>
+#include <magnetometer.h>
+#include <manualcontrolsettings.h>
 
 void Stack_Change() {
 }
diff --git a/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c b/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
index 0fb67116d..df136bab4 100644
--- a/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
+++ b/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
@@ -28,10 +28,10 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
+#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
+#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
+#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
diff --git a/flight/targets/boards/sensortest/firmware/revolution.c b/flight/targets/boards/sensortest/firmware/revolution.c
index 7adcbf8d6..f894464a4 100644
--- a/flight/targets/boards/sensortest/firmware/revolution.c
+++ b/flight/targets/boards/sensortest/firmware/revolution.c
@@ -31,11 +31,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* OpenPilot Includes */
-#include "openpilot.h"
-#include "uavobjectsinit.h"
-#include "systemmod.h"
+#include "inc/openpilot.h"
+#include <systemmod.h>
+#include <uavobjectsinit.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/board_hw_defs/simposix/board_hw_defs.c b/flight/targets/boards/simposix/board_hw_defs.c
similarity index 98%
rename from flight/targets/board_hw_defs/simposix/board_hw_defs.c
rename to flight/targets/boards/simposix/board_hw_defs.c
index 28740cdb9..0e02eba0b 100644
--- a/flight/targets/board_hw_defs/simposix/board_hw_defs.c
+++ b/flight/targets/boards/simposix/board_hw_defs.c
@@ -26,7 +26,6 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include <pios_config.h>
 
 #ifdef PIOS_INCLUDE_UDP
 
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index 3d200e6f3..220b08c9e 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -59,7 +59,6 @@ PIOSBOARDS = $(PIOS)/Boards
 PIOSCOMMONLIB = $(PIOS)/Common/Libraries
 BOOT = 
 BOOTINC = 
-HWDEFSINC = ../../../board_hw_defs/$(BOARD_NAME)
 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 # optional component libraries
@@ -116,7 +115,6 @@ EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
-EXTRAINCDIRS  += $(HWDEFSINC)
 
 EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
diff --git a/flight/targets/boards/simposix/firmware/inc/openpilot.h b/flight/targets/boards/simposix/firmware/inc/openpilot.h
index eb3cadcc7..c77374ecc 100644
--- a/flight/targets/boards/simposix/firmware/inc/openpilot.h
+++ b/flight/targets/boards/simposix/firmware/inc/openpilot.h
@@ -30,17 +30,17 @@
 #ifndef OPENPILOT_H
 #define OPENPILOT_H
 
-
 /* PIOS Includes */
 #include <pios.h>
 
 /* OpenPilot Libraries */
-#include "utlist.h"
-#include "uavobjectmanager.h"
-#include "eventdispatcher.h"
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <taskmonitor.h>
+#include <uavtalk.h>
+
 #include "alarms.h"
-#include "taskmonitor.h"
-#include "uavtalk.h"
 
 /* Global Functions */
 void OpenPilotInit(void);
diff --git a/flight/targets/boards/simposix/firmware/pios_board.c b/flight/targets/boards/simposix/firmware/pios_board.c
index 45b078120..98f97823e 100644
--- a/flight/targets/boards/simposix/firmware/pios_board.c
+++ b/flight/targets/boards/simposix/firmware/pios_board.c
@@ -27,14 +27,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
-
-#include <openpilot.h>
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
 #include <uavobjectsinit.h>
-#include "hwsettings.h"
-#include "manualcontrolsettings.h"
+#include <hwsettings.h>
+#include <manualcontrolsettings.h>
 
-#include "board_hw_defs.c"
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
 
 /**
  * Sensor configurations 
diff --git a/flight/targets/boards/simposix/firmware/simposix.c b/flight/targets/boards/simposix/firmware/simposix.c
index 1863b81c7..e232259fd 100644
--- a/flight/targets/boards/simposix/firmware/simposix.c
+++ b/flight/targets/boards/simposix/firmware/simposix.c
@@ -31,11 +31,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* OpenPilot Includes */
-#include "openpilot.h"
-#include "uavobjectsinit.h"
-#include "systemmod.h"
+#include "inc/openpilot.h"
+#include <systemmod.h>
+#include <uavobjectsinit.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/common/bootloader_updater/Makefile b/flight/targets/common/bootloader_updater/Makefile
index 27f10363e..675854a8b 100644
--- a/flight/targets/common/bootloader_updater/Makefile
+++ b/flight/targets/common/bootloader_updater/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../../boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # ARM DSP library
@@ -34,6 +34,7 @@ PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
 PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
+HWDEFSINC	= ../../boards/$(BOARD_NAME)
 
 # List C source files here (C dependencies are automatically generated).
 # Use file-extension c for "c-only"-files
@@ -55,10 +56,10 @@ endif
 #    Each directory must be seperated by a space.
 EXTRAINCDIRS += $(PIOS)
 EXTRAINCDIRS += $(PIOSINC)
+EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
-EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
 # Link: create ELF output file from object files.
diff --git a/flight/targets/common/bootloader_updater/main.c b/flight/targets/common/bootloader_updater/main.c
index 038e17cc7..b47cf2be9 100644
--- a/flight/targets/common/bootloader_updater/main.c
+++ b/flight/targets/common/bootloader_updater/main.c
@@ -25,10 +25,10 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-/* Bootloader Includes */
+
 #include <pios.h>
+#include <pios_board_info.h>
 #include <stdbool.h>
-#include "pios_board_info.h"
 
 #define MAX_WRI_RETRYS 3
 /* Prototype of PIOS_Board_Init() function */
diff --git a/flight/targets/common/bootloader_updater/pios_board.c b/flight/targets/common/bootloader_updater/pios_board.c
index 0b7cb9efc..be0bc7b11 100644
--- a/flight/targets/common/bootloader_updater/pios_board.c
+++ b/flight/targets/common/bootloader_updater/pios_board.c
@@ -23,16 +23,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <pios.h>
+#include <pios_board_info.h>
+
 /* Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
  * the HW definitions to be const and static to limit their
- * scope.  
+ * scope.
  *
  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  */
-#include "board_hw_defs.c"
-
-#include <pios.h>
+#include <board_hw_defs.c>
 
 void PIOS_Board_Init(void) {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
diff --git a/flight/targets/common/entire_flash/Makefile b/flight/targets/common/entire_flash/Makefile
index 671514d1a..3326b6685 100644
--- a/flight/targets/common/entire_flash/Makefile
+++ b/flight/targets/common/entire_flash/Makefile
@@ -20,7 +20,7 @@ ifndef OPENPILOT_IS_COOL
     $(error Top level Makefile must be used to build this target)
 endif
 
-include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
+include ../../boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 
 # Paths
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index fa34fee36..25a0828f5 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -141,7 +141,6 @@ EXTRAINCDIRS += $(PIOSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
-EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 EXTRAINCDIRS += $(MATHLIBINC)
 EXTRAINCDIRS += $(OPUAVOBJINC)
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index e6aaeb22e..0c2e3cc31 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -90,7 +90,6 @@ EXTRAINCDIRS += $(PIOSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
-EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
 # List any extra directories to look for library files here.

From f7332f6905b9c3c6fbf0be48c0fb66b8268e8965 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Tue, 16 Apr 2013 23:37:40 +0300
Subject: [PATCH 101/125] OP-899: remove extra copy of pios_usb_data.c and move
 it level up

---
 .../boards/coptercontrol/firmware/Makefile    |   2 +-
 .../firmware/pios_usb_board_data.c            | 101 ------------------
 .../{bootloader => }/pios_usb_board_data.c    |   0
 .../boards/oplinkmini/firmware/Makefile       |   2 +-
 .../oplinkmini/firmware/pios_usb_board_data.c |  97 -----------------
 .../{bootloader => }/pios_usb_board_data.c    |   0
 flight/targets/boards/osd/firmware/Makefile   |   2 +-
 .../boards/osd/firmware/pios_usb_board_data.c |  91 ----------------
 .../{bootloader => }/pios_usb_board_data.c    |   0
 .../boards/revolution/firmware/Makefile       |   2 +-
 .../{bootloader => }/pios_usb_board_data.c    |   0
 .../bootloader/pios_usb_board_data.c          |  98 -----------------
 .../boards/sensortest/firmware/Makefile       |   2 +-
 .../sensortest/firmware/pios_usb_board_data.c |  98 -----------------
 .../pios_usb_board_data.c                     |   0
 make/boot-defs.mk                             |   2 +-
 16 files changed, 6 insertions(+), 491 deletions(-)
 delete mode 100644 flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
 rename flight/targets/boards/coptercontrol/{bootloader => }/pios_usb_board_data.c (100%)
 delete mode 100644 flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
 rename flight/targets/boards/oplinkmini/{bootloader => }/pios_usb_board_data.c (100%)
 delete mode 100644 flight/targets/boards/osd/firmware/pios_usb_board_data.c
 rename flight/targets/boards/osd/{bootloader => }/pios_usb_board_data.c (100%)
 rename flight/targets/boards/revolution/{bootloader => }/pios_usb_board_data.c (100%)
 delete mode 100644 flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
 delete mode 100644 flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
 rename flight/targets/boards/{revolution/firmware => sensortest}/pios_usb_board_data.c (100%)

diff --git a/flight/targets/boards/coptercontrol/firmware/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile
index 08061757d..68d2a9af1 100644
--- a/flight/targets/boards/coptercontrol/firmware/Makefile
+++ b/flight/targets/boards/coptercontrol/firmware/Makefile
@@ -58,10 +58,10 @@ endif
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
+    SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
deleted file mode 100644
index 67c19e6c3..000000000
--- a/flight/targets/boards/coptercontrol/firmware/pios_usb_board_data.c
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB definitions
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
-#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
-#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
-#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
-
-static const uint8_t usb_product_id[28] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'C', 0,
-	'o', 0,
-	'p', 0,
-	't', 0,
-	'e', 0,
-	'r', 0,
-	'C', 0,
-	'o', 0,
-	'n', 0,
-	't', 0,
-	'r', 0,
-	'o', 0,
-	'l', 0,
-};
-
-static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-
-	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	uint8_t * utf8 = &(usb_serial_number[2]);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
diff --git a/flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c b/flight/targets/boards/coptercontrol/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/coptercontrol/bootloader/pios_usb_board_data.c
rename to flight/targets/boards/coptercontrol/pios_usb_board_data.c
diff --git a/flight/targets/boards/oplinkmini/firmware/Makefile b/flight/targets/boards/oplinkmini/firmware/Makefile
index dc7aa53e0..7cbff9fad 100644
--- a/flight/targets/boards/oplinkmini/firmware/Makefile
+++ b/flight/targets/boards/oplinkmini/firmware/Makefile
@@ -36,10 +36,10 @@ OPTMODULES =
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
+    SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/OPLink/oplinkmod.c
     SRC += $(OPSYSTEM)/oplink.c
     SRC += $(OPSYSTEM)/pios_board.c
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
deleted file mode 100644
index 070d8c392..000000000
--- a/flight/targets/boards/oplinkmini/firmware/pios_usb_board_data.c
+++ /dev/null
@@ -1,97 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB definitions
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
-#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
-#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
-#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
-
-static const uint8_t usb_product_id[20] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'P', 0,
-	'i', 0,
-	'p', 0,
-	'X', 0,
-	't', 0,
-	'r', 0,
-	'e', 0,
-	'm', 0,
-	'e', 0,
-};
-
-static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-
-	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	uint8_t * utf8 = &(usb_serial_number[2]);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
diff --git a/flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c b/flight/targets/boards/oplinkmini/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/oplinkmini/bootloader/pios_usb_board_data.c
rename to flight/targets/boards/oplinkmini/pios_usb_board_data.c
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index 53404e2fd..4f65bd58b 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -44,10 +44,10 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
+    SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/osd.c
     SRC += $(OPSYSTEM)/pios_board.c
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
diff --git a/flight/targets/boards/osd/firmware/pios_usb_board_data.c b/flight/targets/boards/osd/firmware/pios_usb_board_data.c
deleted file mode 100644
index 6e5e087cf..000000000
--- a/flight/targets/boards/osd/firmware/pios_usb_board_data.c
+++ /dev/null
@@ -1,91 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB definitions
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
-#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
-#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
-#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
-
-static const uint8_t usb_product_id[8] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'O', 0,
-	'S', 0,
-	'D', 0,
-};
-
-static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-
-	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	uint8_t * utf8 = &(usb_serial_number[2]);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
diff --git a/flight/targets/boards/osd/bootloader/pios_usb_board_data.c b/flight/targets/boards/osd/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/osd/bootloader/pios_usb_board_data.c
rename to flight/targets/boards/osd/pios_usb_board_data.c
diff --git a/flight/targets/boards/revolution/firmware/Makefile b/flight/targets/boards/revolution/firmware/Makefile
index a9de50a75..0afbf4b0b 100644
--- a/flight/targets/boards/revolution/firmware/Makefile
+++ b/flight/targets/boards/revolution/firmware/Makefile
@@ -62,10 +62,10 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
+    SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
diff --git a/flight/targets/boards/revolution/bootloader/pios_usb_board_data.c b/flight/targets/boards/revolution/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/revolution/bootloader/pios_usb_board_data.c
rename to flight/targets/boards/revolution/pios_usb_board_data.c
diff --git a/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c b/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
deleted file mode 100644
index df136bab4..000000000
--- a/flight/targets/boards/sensortest/bootloader/pios_usb_board_data.c
+++ /dev/null
@@ -1,98 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB definitions
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
-#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
-#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
-#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
-
-static const uint8_t usb_product_id[22] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'R', 0,
-	'e', 0,
-	'v', 0,
-	'o', 0,
-	'l', 0,
-	'u', 0,
-	't', 0,
-	'i', 0,
-	'o', 0,
-	'n', 0,
-};
-
-static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-
-	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	uint8_t * utf8 = &(usb_serial_number[2]);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
diff --git a/flight/targets/boards/sensortest/firmware/Makefile b/flight/targets/boards/sensortest/firmware/Makefile
index 522992243..d2bd6e764 100644
--- a/flight/targets/boards/sensortest/firmware/Makefile
+++ b/flight/targets/boards/sensortest/firmware/Makefile
@@ -62,10 +62,10 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
+    SRC += ../pios_usb_board_data.c
     SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
     SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
diff --git a/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c b/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
deleted file mode 100644
index df136bab4..000000000
--- a/flight/targets/boards/sensortest/firmware/pios_usb_board_data.c
+++ /dev/null
@@ -1,98 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB definitions
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "inc/pios_usb_board_data.h"	/* struct usb_*, USB_* */
-#include <pios_sys.h>			/* PIOS_SYS_SerialNumberGet */
-#include <pios_usbhook.h>		/* PIOS_USBHOOK_* */
-#include <pios_usb_util.h>		/* PIOS_USB_UTIL_AsciiToUtf8 */
-
-static const uint8_t usb_product_id[22] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'R', 0,
-	'e', 0,
-	'v', 0,
-	'o', 0,
-	'l', 0,
-	'u', 0,
-	't', 0,
-	'i', 0,
-	'o', 0,
-	'n', 0,
-};
-
-static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-
-	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	uint8_t * utf8 = &(usb_serial_number[2]);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
-	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
diff --git a/flight/targets/boards/revolution/firmware/pios_usb_board_data.c b/flight/targets/boards/sensortest/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/revolution/firmware/pios_usb_board_data.c
rename to flight/targets/boards/sensortest/pios_usb_board_data.c
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index 0c2e3cc31..19611a3cd 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -45,9 +45,9 @@ endif
 # Use file-extension c for "c-only"-files
 
 ## Bootloader Core
+SRC += ../pios_usb_board_data.c
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
-SRC += $(OPSYSTEM)/pios_usb_board_data.c
 SRC += $(OPSYSTEM)/op_dfu.c
 
 ## PIOS Hardware (Common)

From 3f2431c04fda2abaef543e0c98adc0929aa3e5d7 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 17 Apr 2013 00:21:30 +0300
Subject: [PATCH 102/125] OP-899: move board-specific pios_board.h files into
 board directories

---
 flight/PiOS/Boards/pios_board.h               | 21 -------------------
 .../boards/coptercontrol/pios_board.h}        |  0
 .../boards/oplinkmini/pios_board.h}           |  0
 .../boards/osd/pios_board.h}                  |  0
 .../boards/revolution/pios_board.h}           |  0
 .../boards/sensortest/pios_board.h}           |  0
 .../boards/simposix/pios_board.h}             |  0
 .../common/bootloader_updater/Makefile        |  2 --
 make/apps-defs.mk                             |  4 ++--
 make/boot-defs.mk                             |  4 ++--
 10 files changed, 4 insertions(+), 27 deletions(-)
 delete mode 100644 flight/PiOS/Boards/pios_board.h
 rename flight/{PiOS/Boards/STM32103CB_CC_Rev1.h => targets/boards/coptercontrol/pios_board.h} (100%)
 rename flight/{PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h => targets/boards/oplinkmini/pios_board.h} (100%)
 rename flight/{PiOS/Boards/STM32F4xx_OSD.h => targets/boards/osd/pios_board.h} (100%)
 rename flight/{PiOS/Boards/STM32F4xx_Revolution.h => targets/boards/revolution/pios_board.h} (100%)
 rename flight/{PiOS/Boards/STM32F4xx_SensorTest.h => targets/boards/sensortest/pios_board.h} (100%)
 rename flight/{PiOS/Boards/sim_posix.h => targets/boards/simposix/pios_board.h} (100%)

diff --git a/flight/PiOS/Boards/pios_board.h b/flight/PiOS/Boards/pios_board.h
deleted file mode 100644
index f79df0ded..000000000
--- a/flight/PiOS/Boards/pios_board.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * Generic pios_board.h header.
- * There is no #ifdef guard here since only one of headers should be included.
- * All they share the same guard define to prevent double inclusion.
- */
-
-#if USE_STM32103CB_CC_Rev1
-#include "STM32103CB_CC_Rev1.h"
-#elif USE_STM32103CB_OPLINKMINI
-#include "STM32103CB_OPLinkMini_Rev1.h"
-#elif USE_STM32F4xx_RM
-#include "STM32F4xx_Revolution.h"
-#elif USE_STM32F4xx_OSD
-#include "STM32F4xx_OSD.h"
-#elif USE_STM32F4xx_OP
-#include "STM32F4xx_SensorTest.h"
-#elif USE_SIM_POSIX
-#include "sim_posix.h"
-#else
-#error Board definition has not been provided.
-#endif
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/targets/boards/coptercontrol/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/STM32103CB_CC_Rev1.h
rename to flight/targets/boards/coptercontrol/pios_board.h
diff --git a/flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h b/flight/targets/boards/oplinkmini/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/STM32103CB_OPLinkMini_Rev1.h
rename to flight/targets/boards/oplinkmini/pios_board.h
diff --git a/flight/PiOS/Boards/STM32F4xx_OSD.h b/flight/targets/boards/osd/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/STM32F4xx_OSD.h
rename to flight/targets/boards/osd/pios_board.h
diff --git a/flight/PiOS/Boards/STM32F4xx_Revolution.h b/flight/targets/boards/revolution/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/STM32F4xx_Revolution.h
rename to flight/targets/boards/revolution/pios_board.h
diff --git a/flight/PiOS/Boards/STM32F4xx_SensorTest.h b/flight/targets/boards/sensortest/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/STM32F4xx_SensorTest.h
rename to flight/targets/boards/sensortest/pios_board.h
diff --git a/flight/PiOS/Boards/sim_posix.h b/flight/targets/boards/simposix/pios_board.h
similarity index 100%
rename from flight/PiOS/Boards/sim_posix.h
rename to flight/targets/boards/simposix/pios_board.h
diff --git a/flight/targets/common/bootloader_updater/Makefile b/flight/targets/common/bootloader_updater/Makefile
index 675854a8b..4dfbb9a25 100644
--- a/flight/targets/common/bootloader_updater/Makefile
+++ b/flight/targets/common/bootloader_updater/Makefile
@@ -32,7 +32,6 @@ OPSYSTEM	= $(TOPDIR)
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
-PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 HWDEFSINC	= ../../boards/$(BOARD_NAME)
 
@@ -59,7 +58,6 @@ EXTRAINCDIRS += $(PIOSINC)
 EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
-EXTRAINCDIRS += $(PIOSBOARDS)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
 # Link: create ELF output file from object files.
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 25a0828f5..3e14a0fa1 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -23,10 +23,10 @@ endif
 # Paths
 TOPDIR		= .
 OPSYSTEM	= $(TOPDIR)
+BOARDINC	= $(TOPDIR)/..
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
-PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 
 ## UAVTalk and UAVObject manager
@@ -138,9 +138,9 @@ ASRCARM +=
 #    Each directory must be seperated by a space.
 EXTRAINCDIRS += $(PIOS)
 EXTRAINCDIRS += $(PIOSINC)
+EXTRAINCDIRS += $(BOARDINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
-EXTRAINCDIRS += $(PIOSBOARDS)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 EXTRAINCDIRS += $(MATHLIBINC)
 EXTRAINCDIRS += $(OPUAVOBJINC)
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index 19611a3cd..fa2a79d03 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -23,10 +23,10 @@ endif
 # Paths
 TOPDIR		= .
 OPSYSTEM	= $(TOPDIR)
+BOARDINC	= $(TOPDIR)/..
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
-PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 
 # ARM DSP library
@@ -87,9 +87,9 @@ ASRCARM +=
 #    Each directory must be seperated by a space.
 EXTRAINCDIRS += $(PIOS)
 EXTRAINCDIRS += $(PIOSINC)
+EXTRAINCDIRS += $(BOARDINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
-EXTRAINCDIRS += $(PIOSBOARDS)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
 # List any extra directories to look for library files here.

From 27195b73271b10aa3d97fff50511118a57d72e3b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@os-linux.local>
Date: Wed, 17 Apr 2013 00:44:06 +0300
Subject: [PATCH 103/125] OP-899: move UAVObjects and UAVTalk one level up from
 targets

---
 Makefile                                                  | 4 ++--
 flight/targets/boards/simposix/firmware/Makefile          | 8 ++++----
 .../UAVObjects => uavobjects}/Makefiletemplate.inc        | 0
 .../{targets/UAVObjects => uavobjects}/eventdispatcher.c  | 0
 .../UAVObjects => uavobjects}/inc/eventdispatcher.h       | 0
 .../UAVObjects => uavobjects}/inc/uavobjectmanager.h      | 0
 .../inc/uavobjectsinittemplate.h                          | 0
 .../UAVObjects => uavobjects}/inc/uavobjecttemplate.h     | 0
 flight/{targets/UAVObjects => uavobjects}/inc/utlist.h    | 0
 .../{targets/UAVObjects => uavobjects}/uavobjectmanager.c | 0
 .../UAVObjects => uavobjects}/uavobjectsinittemplate.c    | 0
 .../UAVObjects => uavobjects}/uavobjecttemplate.c         | 0
 flight/{targets/UAVTalk => uavtalk}/inc/uavtalk.h         | 0
 flight/{targets/UAVTalk => uavtalk}/inc/uavtalk_priv.h    | 0
 flight/{targets/UAVTalk => uavtalk}/uavtalk.c             | 0
 .../generators/flight/uavobjectgeneratorflight.cpp        | 2 +-
 16 files changed, 7 insertions(+), 7 deletions(-)
 rename flight/{targets/UAVObjects => uavobjects}/Makefiletemplate.inc (100%)
 rename flight/{targets/UAVObjects => uavobjects}/eventdispatcher.c (100%)
 rename flight/{targets/UAVObjects => uavobjects}/inc/eventdispatcher.h (100%)
 rename flight/{targets/UAVObjects => uavobjects}/inc/uavobjectmanager.h (100%)
 rename flight/{targets/UAVObjects => uavobjects}/inc/uavobjectsinittemplate.h (100%)
 rename flight/{targets/UAVObjects => uavobjects}/inc/uavobjecttemplate.h (100%)
 rename flight/{targets/UAVObjects => uavobjects}/inc/utlist.h (100%)
 rename flight/{targets/UAVObjects => uavobjects}/uavobjectmanager.c (100%)
 rename flight/{targets/UAVObjects => uavobjects}/uavobjectsinittemplate.c (100%)
 rename flight/{targets/UAVObjects => uavobjects}/uavobjecttemplate.c (100%)
 rename flight/{targets/UAVTalk => uavtalk}/inc/uavtalk.h (100%)
 rename flight/{targets/UAVTalk => uavtalk}/inc/uavtalk_priv.h (100%)
 rename flight/{targets/UAVTalk => uavtalk}/uavtalk.c (100%)

diff --git a/Makefile b/Makefile
index 2e97e05aa..048b8cad9 100644
--- a/Makefile
+++ b/Makefile
@@ -190,8 +190,8 @@ uavobjects_clean:
 export PIOS          := $(ROOT_DIR)/flight/PiOS
 export FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
 export OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
-export OPUAVOBJ      := $(ROOT_DIR)/flight/targets/UAVObjects
-export OPUAVTALK     := $(ROOT_DIR)/flight/targets/UAVTalk
+export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
+export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 export DOXYGENDIR    := $(ROOT_DIR)/flight/Doc/Doxygen
 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index 220b08c9e..e50706621 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -42,10 +42,11 @@ MODULES += FirmwareIAP
 
 # Paths
 OPSYSTEM = .
+BOARDINC = ..
 OPSYSTEMINC = $(OPSYSTEM)/inc
-OPUAVTALK = ../../../UAVTalk
+OPUAVTALK = ../../../../uavtalk
 OPUAVTALKINC = $(OPUAVTALK)/inc
-OPUAVOBJ = ../../../UAVObjects
+OPUAVOBJ = ../../../../uavobjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 PIOSINC = $(PIOS)/inc
 OPMODULEDIR = ../../../../Modules
@@ -55,7 +56,6 @@ MATHLIB = $(FLIGHTLIB)/math
 MATHLIBINC = $(FLIGHTLIB)/math
 PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
-PIOSBOARDS = $(PIOS)/Boards
 PIOSCOMMONLIB = $(PIOS)/Common/Libraries
 BOOT = 
 BOOTINC = 
@@ -102,6 +102,7 @@ SRC += $(UAVOBJSRC)
 #    Each directory must be seperated by a space.
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(BOARDINC)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -111,7 +112,6 @@ EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
 EXTRAINCDIRS  += $(MATHLIBINC)
 EXTRAINCDIRS  += $(PIOSCOMMON)
-EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
diff --git a/flight/targets/UAVObjects/Makefiletemplate.inc b/flight/uavobjects/Makefiletemplate.inc
similarity index 100%
rename from flight/targets/UAVObjects/Makefiletemplate.inc
rename to flight/uavobjects/Makefiletemplate.inc
diff --git a/flight/targets/UAVObjects/eventdispatcher.c b/flight/uavobjects/eventdispatcher.c
similarity index 100%
rename from flight/targets/UAVObjects/eventdispatcher.c
rename to flight/uavobjects/eventdispatcher.c
diff --git a/flight/targets/UAVObjects/inc/eventdispatcher.h b/flight/uavobjects/inc/eventdispatcher.h
similarity index 100%
rename from flight/targets/UAVObjects/inc/eventdispatcher.h
rename to flight/uavobjects/inc/eventdispatcher.h
diff --git a/flight/targets/UAVObjects/inc/uavobjectmanager.h b/flight/uavobjects/inc/uavobjectmanager.h
similarity index 100%
rename from flight/targets/UAVObjects/inc/uavobjectmanager.h
rename to flight/uavobjects/inc/uavobjectmanager.h
diff --git a/flight/targets/UAVObjects/inc/uavobjectsinittemplate.h b/flight/uavobjects/inc/uavobjectsinittemplate.h
similarity index 100%
rename from flight/targets/UAVObjects/inc/uavobjectsinittemplate.h
rename to flight/uavobjects/inc/uavobjectsinittemplate.h
diff --git a/flight/targets/UAVObjects/inc/uavobjecttemplate.h b/flight/uavobjects/inc/uavobjecttemplate.h
similarity index 100%
rename from flight/targets/UAVObjects/inc/uavobjecttemplate.h
rename to flight/uavobjects/inc/uavobjecttemplate.h
diff --git a/flight/targets/UAVObjects/inc/utlist.h b/flight/uavobjects/inc/utlist.h
similarity index 100%
rename from flight/targets/UAVObjects/inc/utlist.h
rename to flight/uavobjects/inc/utlist.h
diff --git a/flight/targets/UAVObjects/uavobjectmanager.c b/flight/uavobjects/uavobjectmanager.c
similarity index 100%
rename from flight/targets/UAVObjects/uavobjectmanager.c
rename to flight/uavobjects/uavobjectmanager.c
diff --git a/flight/targets/UAVObjects/uavobjectsinittemplate.c b/flight/uavobjects/uavobjectsinittemplate.c
similarity index 100%
rename from flight/targets/UAVObjects/uavobjectsinittemplate.c
rename to flight/uavobjects/uavobjectsinittemplate.c
diff --git a/flight/targets/UAVObjects/uavobjecttemplate.c b/flight/uavobjects/uavobjecttemplate.c
similarity index 100%
rename from flight/targets/UAVObjects/uavobjecttemplate.c
rename to flight/uavobjects/uavobjecttemplate.c
diff --git a/flight/targets/UAVTalk/inc/uavtalk.h b/flight/uavtalk/inc/uavtalk.h
similarity index 100%
rename from flight/targets/UAVTalk/inc/uavtalk.h
rename to flight/uavtalk/inc/uavtalk.h
diff --git a/flight/targets/UAVTalk/inc/uavtalk_priv.h b/flight/uavtalk/inc/uavtalk_priv.h
similarity index 100%
rename from flight/targets/UAVTalk/inc/uavtalk_priv.h
rename to flight/uavtalk/inc/uavtalk_priv.h
diff --git a/flight/targets/UAVTalk/uavtalk.c b/flight/uavtalk/uavtalk.c
similarity index 100%
rename from flight/targets/UAVTalk/uavtalk.c
rename to flight/uavtalk/uavtalk.c
diff --git a/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp b/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
index 8b0e99e34..fcf32171f 100644
--- a/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
+++ b/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
@@ -35,7 +35,7 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString template
 
     QString flightObjInit,objInc,objFileNames,objNames;
     qint32 sizeCalc;
-    flightCodePath = QDir( templatepath + QString("flight/targets/UAVObjects"));
+    flightCodePath = QDir( templatepath + QString("flight/uavobjects"));
     flightOutputPath = QDir( outputpath + QString("flight") );
     flightOutputPath.mkpath(flightOutputPath.absolutePath());
 

From fb207bdaf7e38afa58efc392c4b12970db743031 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 00:57:33 +0300
Subject: [PATCH 104/125] OP-896: rename SensorTest to RevoProto

---
 Makefile                                                    | 6 +++---
 .../Source/{sensortest => revoproto}/system_stm32f4xx.c     | 0
 .../targets/boards/{sensortest => revoproto}/board-info.mk  | 0
 .../boards/{sensortest => revoproto}/board_hw_defs.c        | 0
 .../boards/{sensortest => revoproto}/bootloader/Makefile    | 0
 .../{sensortest => revoproto}/bootloader/inc/common.h       | 0
 .../{sensortest => revoproto}/bootloader/inc/pios_config.h  | 0
 .../bootloader/inc/pios_usb_board_data.h                    | 0
 .../boards/{sensortest => revoproto}/bootloader/main.c      | 0
 .../{sensortest => revoproto}/bootloader/pios_board.c       | 0
 .../boards/{sensortest => revoproto}/firmware/Makefile      | 0
 .../boards/{sensortest => revoproto}/firmware/Makefile.osx  | 0
 .../{sensortest => revoproto}/firmware/UAVObjects.inc       | 0
 .../{sensortest => revoproto}/firmware/cm3_fault_handlers.c | 0
 .../boards/{sensortest => revoproto}/firmware/dcc_stdio.c   | 0
 .../{sensortest => revoproto}/firmware/inc/FreeRTOSConfig.h | 0
 .../{sensortest => revoproto}/firmware/inc/dcc_stdio.h      | 0
 .../{sensortest => revoproto}/firmware/inc/openpilot.h      | 0
 .../{sensortest => revoproto}/firmware/inc/pios_board_sim.h | 0
 .../{sensortest => revoproto}/firmware/inc/pios_config.h    | 0
 .../firmware/inc/pios_config_sim.h                          | 0
 .../firmware/inc/pios_usb_board_data.h                      | 0
 .../boards/{sensortest => revoproto}/firmware/pios_board.c  | 0
 .../{sensortest => revoproto}/firmware/pios_board_sim.c     | 0
 .../boards/{sensortest => revoproto}/firmware/revolution.c  | 0
 .../targets/boards/{sensortest => revoproto}/pios_board.h   | 0
 .../boards/{sensortest => revoproto}/pios_usb_board_data.c  | 0
 .../src/plugins/uploader/uploadergadgetwidget.cpp           | 2 +-
 28 files changed, 4 insertions(+), 4 deletions(-)
 rename flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/{sensortest => revoproto}/system_stm32f4xx.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/board-info.mk (100%)
 rename flight/targets/boards/{sensortest => revoproto}/board_hw_defs.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/Makefile (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/inc/common.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/inc/pios_config.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/main.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/bootloader/pios_board.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/Makefile (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/Makefile.osx (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/UAVObjects.inc (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/cm3_fault_handlers.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/dcc_stdio.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/FreeRTOSConfig.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/dcc_stdio.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/openpilot.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/pios_board_sim.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/pios_config.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/pios_config_sim.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/inc/pios_usb_board_data.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/pios_board.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/pios_board_sim.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/firmware/revolution.c (100%)
 rename flight/targets/boards/{sensortest => revoproto}/pios_board.h (100%)
 rename flight/targets/boards/{sensortest => revoproto}/pios_usb_board_data.c (100%)

diff --git a/Makefile b/Makefile
index 048b8cad9..2406d0dc2 100644
--- a/Makefile
+++ b/Makefile
@@ -197,15 +197,15 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol oplinkmini sensortest revolution osd simposix
-ALL_BOARDS_BU := coptercontrol oplinkmini simposix
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix
+ALL_BOARDS_BU := coptercontrol oplinkmini
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
 oplinkmini_short       := 'oplm'
-sensortest_short       := 'stst'
 revolution_short       := 'revo'
 osd_short              := 'osd '
+revoproto_short        := 'revp'
 simposix_short         := 'posx'
 
 # SimPosix only builds on Linux so drop it from the list for
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/sensortest/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/sensortest/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
diff --git a/flight/targets/boards/sensortest/board-info.mk b/flight/targets/boards/revoproto/board-info.mk
similarity index 100%
rename from flight/targets/boards/sensortest/board-info.mk
rename to flight/targets/boards/revoproto/board-info.mk
diff --git a/flight/targets/boards/sensortest/board_hw_defs.c b/flight/targets/boards/revoproto/board_hw_defs.c
similarity index 100%
rename from flight/targets/boards/sensortest/board_hw_defs.c
rename to flight/targets/boards/revoproto/board_hw_defs.c
diff --git a/flight/targets/boards/sensortest/bootloader/Makefile b/flight/targets/boards/revoproto/bootloader/Makefile
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/Makefile
rename to flight/targets/boards/revoproto/bootloader/Makefile
diff --git a/flight/targets/boards/sensortest/bootloader/inc/common.h b/flight/targets/boards/revoproto/bootloader/inc/common.h
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/inc/common.h
rename to flight/targets/boards/revoproto/bootloader/inc/common.h
diff --git a/flight/targets/boards/sensortest/bootloader/inc/pios_config.h b/flight/targets/boards/revoproto/bootloader/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/inc/pios_config.h
rename to flight/targets/boards/revoproto/bootloader/inc/pios_config.h
diff --git a/flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/revoproto/bootloader/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/inc/pios_usb_board_data.h
rename to flight/targets/boards/revoproto/bootloader/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/sensortest/bootloader/main.c b/flight/targets/boards/revoproto/bootloader/main.c
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/main.c
rename to flight/targets/boards/revoproto/bootloader/main.c
diff --git a/flight/targets/boards/sensortest/bootloader/pios_board.c b/flight/targets/boards/revoproto/bootloader/pios_board.c
similarity index 100%
rename from flight/targets/boards/sensortest/bootloader/pios_board.c
rename to flight/targets/boards/revoproto/bootloader/pios_board.c
diff --git a/flight/targets/boards/sensortest/firmware/Makefile b/flight/targets/boards/revoproto/firmware/Makefile
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/Makefile
rename to flight/targets/boards/revoproto/firmware/Makefile
diff --git a/flight/targets/boards/sensortest/firmware/Makefile.osx b/flight/targets/boards/revoproto/firmware/Makefile.osx
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/Makefile.osx
rename to flight/targets/boards/revoproto/firmware/Makefile.osx
diff --git a/flight/targets/boards/sensortest/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/UAVObjects.inc
rename to flight/targets/boards/revoproto/firmware/UAVObjects.inc
diff --git a/flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c b/flight/targets/boards/revoproto/firmware/cm3_fault_handlers.c
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/cm3_fault_handlers.c
rename to flight/targets/boards/revoproto/firmware/cm3_fault_handlers.c
diff --git a/flight/targets/boards/sensortest/firmware/dcc_stdio.c b/flight/targets/boards/revoproto/firmware/dcc_stdio.c
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/dcc_stdio.c
rename to flight/targets/boards/revoproto/firmware/dcc_stdio.c
diff --git a/flight/targets/boards/sensortest/firmware/inc/FreeRTOSConfig.h b/flight/targets/boards/revoproto/firmware/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/FreeRTOSConfig.h
rename to flight/targets/boards/revoproto/firmware/inc/FreeRTOSConfig.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/dcc_stdio.h b/flight/targets/boards/revoproto/firmware/inc/dcc_stdio.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/dcc_stdio.h
rename to flight/targets/boards/revoproto/firmware/inc/dcc_stdio.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/openpilot.h b/flight/targets/boards/revoproto/firmware/inc/openpilot.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/openpilot.h
rename to flight/targets/boards/revoproto/firmware/inc/openpilot.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/pios_board_sim.h b/flight/targets/boards/revoproto/firmware/inc/pios_board_sim.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/pios_board_sim.h
rename to flight/targets/boards/revoproto/firmware/inc/pios_board_sim.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/pios_config.h b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/pios_config.h
rename to flight/targets/boards/revoproto/firmware/inc/pios_config.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/pios_config_sim.h b/flight/targets/boards/revoproto/firmware/inc/pios_config_sim.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/pios_config_sim.h
rename to flight/targets/boards/revoproto/firmware/inc/pios_config_sim.h
diff --git a/flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/revoproto/firmware/inc/pios_usb_board_data.h
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/inc/pios_usb_board_data.h
rename to flight/targets/boards/revoproto/firmware/inc/pios_usb_board_data.h
diff --git a/flight/targets/boards/sensortest/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/pios_board.c
rename to flight/targets/boards/revoproto/firmware/pios_board.c
diff --git a/flight/targets/boards/sensortest/firmware/pios_board_sim.c b/flight/targets/boards/revoproto/firmware/pios_board_sim.c
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/pios_board_sim.c
rename to flight/targets/boards/revoproto/firmware/pios_board_sim.c
diff --git a/flight/targets/boards/sensortest/firmware/revolution.c b/flight/targets/boards/revoproto/firmware/revolution.c
similarity index 100%
rename from flight/targets/boards/sensortest/firmware/revolution.c
rename to flight/targets/boards/revoproto/firmware/revolution.c
diff --git a/flight/targets/boards/sensortest/pios_board.h b/flight/targets/boards/revoproto/pios_board.h
similarity index 100%
rename from flight/targets/boards/sensortest/pios_board.h
rename to flight/targets/boards/revoproto/pios_board.h
diff --git a/flight/targets/boards/sensortest/pios_usb_board_data.c b/flight/targets/boards/revoproto/pios_usb_board_data.c
similarity index 100%
rename from flight/targets/boards/sensortest/pios_usb_board_data.c
rename to flight/targets/boards/revoproto/pios_usb_board_data.c
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index b40f3ad01..aeab03d8f 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -600,7 +600,7 @@ bool UploaderGadgetWidget::autoUpdate()
         filename = "fw_osd";
         break;
     case 0x902:
-        filename = "fw_sensortest";
+        filename = "fw_revoproto";
         break;
     case 0x903:
         filename = "fw_revolution";

From f9f721a76a5a5ad13260c937623dcb8e5be6872b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 01:18:46 +0300
Subject: [PATCH 105/125] Reset executable bits from non-executable files
 (Windows legacy)

---
 artwork/3D Model/components/clevis1/clevis1.3ds     | Bin
 artwork/3D Model/components/clevis1/screenshot.jpg  | Bin
 .../components/control_horn1/control_horn1.3ds      | Bin
 .../components/control_horn1/screenshot.jpg         | Bin
 artwork/3D Model/components/esc1/esc1.3ds           | Bin
 artwork/3D Model/components/esc1/screenshot.jpg     | Bin
 artwork/3D Model/components/esc1/texture.jpg        | Bin
 artwork/3D Model/components/motor1/motor1.3ds       | Bin
 artwork/3D Model/components/motor1/screenshot.jpg   | Bin
 artwork/3D Model/components/motor1/texture.jpg      | Bin
 artwork/3D Model/components/servo1/screenshot.jpg   | Bin
 artwork/3D Model/components/servo1/servo1.3ds       | Bin
 artwork/3D Model/components/servo1/texture.jpg      | Bin
 artwork/3D Model/helis/t-rex/t-rex_450_xl.3ds       | Bin
 artwork/3D Model/helis/t-rex/t-rex_450_xl.jpg       | Bin
 artwork/3D Model/helis/t-rex/t-rex_450_xl.wav       | Bin
 artwork/3D Model/helis/t-rex/texture.jpg            | Bin
 artwork/3D Model/multi/aeroquad/aeroquad.jpg        | Bin
 artwork/3D Model/multi/aeroquad/aeroquad_+.3ds      | Bin
 artwork/3D Model/multi/aeroquad/texture.jpg         | Bin
 artwork/3D Model/multi/easy_quad/boards.jpg         | Bin
 artwork/3D Model/multi/easy_quad/easy_quad_X.3ds    | Bin
 artwork/3D Model/multi/easy_quad/easy_quad_X.jpg    | Bin
 artwork/3D Model/multi/easy_quad/logo.jpg           | Bin
 artwork/3D Model/multi/easy_quad/texture.jpg        | Bin
 artwork/3D Model/multi/gaui_330x/gaui_330x.3ds      | Bin
 artwork/3D Model/multi/gaui_330x/gaui_330x.jpg      | Bin
 artwork/3D Model/multi/gaui_330x/texture.jpg        | Bin
 artwork/3D Model/multi/mikrokopter/MK_Hexa.3ds      | Bin
 artwork/3D Model/multi/mikrokopter/MK_Hexa.jpg      | Bin
 artwork/3D Model/multi/mikrokopter/MK_L4-ME.3ds     | Bin
 artwork/3D Model/multi/mikrokopter/MK_L4-ME.jpg     | Bin
 artwork/3D Model/multi/mikrokopter/MK_Okto.3ds      | Bin
 artwork/3D Model/multi/mikrokopter/MK_Okto.jpg      | Bin
 artwork/3D Model/multi/mikrokopter/MK_Okto2.3ds     | Bin
 artwork/3D Model/multi/mikrokopter/MK_Okto2.jpg     | Bin
 artwork/3D Model/multi/mikrokopter/texture.jpg      | Bin
 .../multi/scorpion_tricopter/scorpion_tricopter.3ds | Bin
 .../multi/scorpion_tricopter/scorpion_tricopter.jpg | Bin
 .../3D Model/multi/scorpion_tricopter/texture.jpg   | Bin
 artwork/3D Model/multi/test_quad/TEXTURE.PNG        | Bin
 .../3D Model/multi/test_quad/test_quad_+-old.3ds    | Bin
 .../3D Model/multi/test_quad/test_quad_+-old.jpg    | Bin
 artwork/3D Model/multi/test_quad/test_quad_+.3ds    | Bin
 artwork/3D Model/multi/test_quad/test_quad_+.jpg    | Bin
 .../3D Model/multi/test_quad/test_quad_X-old.3ds    | Bin
 .../3D Model/multi/test_quad/test_quad_X-old.jpg    | Bin
 artwork/3D Model/multi/test_quad/test_quad_X.3ds    | Bin
 artwork/3D Model/multi/test_quad/test_quad_X.jpg    | Bin
 artwork/3D Model/planes/Easystar/easystar.3ds       | Bin
 artwork/3D Model/planes/Easystar/easystar.jpg       | Bin
 artwork/3D Model/planes/Easystar/texture.jpg        | Bin
 artwork/3D Model/planes/firecracker/firecracker.3ds | Bin
 artwork/3D Model/planes/firecracker/firecracker.jpg | Bin
 artwork/3D Model/planes/firecracker/texture.jpg     | Bin
 artwork/3D Model/planes/funjet/funjet.3ds           | Bin
 artwork/3D Model/planes/funjet/funjet.jpg           | Bin
 artwork/3D Model/planes/funjet/texture.jpg          | Bin
 artwork/3D Model/planes/zagi/texture.jpg            | Bin
 artwork/3D Model/planes/zagi/zagi.3ds               | Bin
 artwork/3D Model/planes/zagi/zagi.jpg               | Bin
 artwork/Dials/deluxe/lineardial-horizontal.svg      |   0
 artwork/Dials/deluxe/lineardial-vertical.svg        |   0
 artwork/PFD/pfd.svg                                 |   0
 .../STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.c   |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_cl.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_hd.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_ld.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_md.s     |   0
 .../STM32F10x/Libraries/CMSIS/Core/CM3/stm32f10x.h  |   0
 .../Libraries/CMSIS/Core/CM3/system_stm32f10x.h     |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h  |   0
 .../Libraries/STM32F10x_StdPeriph_Driver/src/misc.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c  |   0
 .../src/stm32f10x_dbgmcu.c                          |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c |   0
 .../src/stm32f10x_flash.c                           |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c  |   0
 .../src/stm32f10x_usart.c                           |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c |   0
 flight/PiOS/STM32F10x/pios_usb_hid_pwr.c            |   0
 .../share/openpilotgcs/dials/default/arm-status.svg |   0
 .../dials/default/flightmode-status.svg             |   0
 .../share/openpilotgcs/dials/default/gps-signal.svg |   0
 .../dials/default/lineardial-horizontal.svg         |   0
 .../dials/default/lineardial-vertical.svg           |   0
 .../share/openpilotgcs/dials/default/textonly.svg   |   0
 .../dials/deluxe/lineardial-horizontal.svg          |   0
 .../dials/deluxe/lineardial-vertical.svg            |   0
 .../openpilotgcs/models/helis/t-rex/TEXTURE.JPG     | Bin
 .../models/helis/t-rex/t-rex_450_xl.3ds             | Bin
 .../models/helis/t-rex/t-rex_450_xl.jpg             | Bin
 .../models/helis/t-rex/t-rex_450_xl.wav             | Bin
 .../openpilotgcs/models/multi/aeroquad/TEXTURE.JPG  | Bin
 .../openpilotgcs/models/multi/aeroquad/aeroquad.jpg | Bin
 .../models/multi/aeroquad/aeroquad_+.3ds            | Bin
 .../openpilotgcs/models/multi/easy_quad/BOARDS.JPG  | Bin
 .../openpilotgcs/models/multi/easy_quad/LOGO.JPG    | Bin
 .../openpilotgcs/models/multi/easy_quad/TEXTURE.JPG | Bin
 .../models/multi/easy_quad/easy_quad_X.3ds          | Bin
 .../models/multi/easy_quad/easy_quad_X.jpg          | Bin
 .../models/multi/gaui_330x/gaui_330x.3ds            | Bin
 .../models/multi/gaui_330x/gaui_330x.jpg            | Bin
 .../openpilotgcs/models/multi/gaui_330x/texture.jpg | Bin
 .../openpilotgcs/models/multi/joes_cnc/J14-QT_+.3DS | Bin
 .../openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS | Bin
 .../openpilotgcs/models/multi/joes_cnc/J14-Q_+.3DS  | Bin
 .../openpilotgcs/models/multi/joes_cnc/J14-Q_X.3DS  | Bin
 .../models/multi/mikrokopter/MK_Hexa.3ds            | Bin
 .../models/multi/mikrokopter/MK_Hexa.jpg            | Bin
 .../models/multi/mikrokopter/MK_L4-ME.3ds           | Bin
 .../models/multi/mikrokopter/MK_L4-ME.jpg           | Bin
 .../models/multi/mikrokopter/MK_Okto.3ds            | Bin
 .../models/multi/mikrokopter/MK_Okto.jpg            | Bin
 .../models/multi/mikrokopter/MK_Okto2.3ds           | Bin
 .../models/multi/mikrokopter/MK_Okto2.jpg           | Bin
 .../models/multi/mikrokopter/TEXTURE.JPG            | Bin
 .../multi/scorpion_tricopter/scorpion_tricopter.3ds | Bin
 .../multi/scorpion_tricopter/scorpion_tricopter.jpg | Bin
 .../models/multi/scorpion_tricopter/texture.jpg     | Bin
 .../openpilotgcs/models/multi/test_quad/TEXTURE.PNG | Bin
 .../models/multi/test_quad/test_quad_+.3ds          | Bin
 .../models/multi/test_quad/test_quad_+.jpg          | Bin
 .../models/multi/test_quad/test_quad_X.3ds          | Bin
 .../models/multi/test_quad/test_quad_X.jpg          | Bin
 .../openpilotgcs/models/planes/Easystar/TEXTURE.JPG | Bin
 .../models/planes/Easystar/easystar.3ds             | Bin
 .../models/planes/Easystar/easystar.jpg             | Bin
 .../models/planes/firecracker/TEXTURE.JPG           | Bin
 .../models/planes/firecracker/firecracker.3ds       | Bin
 .../models/planes/firecracker/firecracker.jpg       | Bin
 .../openpilotgcs/models/planes/funjet/TEXTURE.JPG   | Bin
 .../openpilotgcs/models/planes/funjet/funjet.3ds    | Bin
 .../openpilotgcs/models/planes/funjet/funjet.jpg    | Bin
 .../openpilotgcs/models/planes/zagi/texture.jpg     | Bin
 .../share/openpilotgcs/models/planes/zagi/zagi.3ds  | Bin
 .../share/openpilotgcs/models/planes/zagi/zagi.jpg  | Bin
 .../share/openpilotgcs/pfd/default/pfd.svg          |   0
 .../openpilotgcs/src/libs/glc_lib/io/glc_xmlutil.h  |   0
 .../src/libs/glc_lib/maths/glc_vector2d.h           |   0
 .../src/libs/glc_lib/maths/glc_vector3d.h           |   0
 ground/openpilotgcs/src/plugins/config/airframe.ui  |   0
 .../src/plugins/config/camerastabilization.ui       |   0
 .../src/plugins/config/cc_hw_settings.ui            |   0
 .../openpilotgcs/src/plugins/config/ccattitude.ui   |   0
 ground/openpilotgcs/src/plugins/config/input.ui     |   0
 .../src/plugins/config/inputchannelform.cpp         |   0
 .../src/plugins/config/inputchannelform.ui          |   0
 ground/openpilotgcs/src/plugins/config/output.ui    |   0
 .../src/plugins/config/outputchannelform.cpp        |   0
 .../src/plugins/config/outputchannelform.ui         |   0
 .../src/plugins/config/stabilization.ui             |   0
 ground/openpilotgcs/src/plugins/config/txpid.ui     |   0
 .../src/plugins/uploader/Uploader.pluginspec        |   0
 .../openpilotgcs/src/plugins/uploader/uploader.pro  |   0
 .../src/plugins/uploader/uploadergadget.cpp         |   0
 .../src/plugins/uploader/uploadergadget.h           |   0
 .../uploader/uploadergadgetconfiguration.cpp        |   0
 .../plugins/uploader/uploadergadgetconfiguration.h  |   0
 .../src/plugins/uploader/uploadergadgetfactory.cpp  |   0
 .../src/plugins/uploader/uploadergadgetfactory.h    |   0
 .../plugins/uploader/uploadergadgetoptionspage.cpp  |   0
 .../plugins/uploader/uploadergadgetoptionspage.h    |   0
 .../src/plugins/uploader/uploadergadgetwidget.cpp   |   0
 .../src/plugins/uploader/uploadergadgetwidget.h     |   0
 .../src/plugins/uploader/uploaderplugin.cpp         |   0
 .../src/plugins/uploader/uploaderplugin.h           |   0
 matlab/ins/analyzeEKF.m                             |   0
 matlab/ins/compile.m                                |   0
 matlab/ins/insgps.c                                 |   0
 matlab/ins/insgps.h                                 |   0
 matlab/ins/insgps_ml.c                              |   0
 matlab/ins/insgps_ml.m                              |   0
 matlab/ins/inspgs_ml.m                              |   0
 matlab/ins/test.m                                   |   0
 package/linux/openpilot.png                         | Bin
 package/linux/openpilot_menu.png                    | Bin
 shared/uavobjectdefinition/oplinkstatus.xml         |   0
 193 files changed, 0 insertions(+), 0 deletions(-)
 mode change 100755 => 100644 artwork/3D Model/components/clevis1/clevis1.3ds
 mode change 100755 => 100644 artwork/3D Model/components/clevis1/screenshot.jpg
 mode change 100755 => 100644 artwork/3D Model/components/control_horn1/control_horn1.3ds
 mode change 100755 => 100644 artwork/3D Model/components/control_horn1/screenshot.jpg
 mode change 100755 => 100644 artwork/3D Model/components/esc1/esc1.3ds
 mode change 100755 => 100644 artwork/3D Model/components/esc1/screenshot.jpg
 mode change 100755 => 100644 artwork/3D Model/components/esc1/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/components/motor1/motor1.3ds
 mode change 100755 => 100644 artwork/3D Model/components/motor1/screenshot.jpg
 mode change 100755 => 100644 artwork/3D Model/components/motor1/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/components/servo1/screenshot.jpg
 mode change 100755 => 100644 artwork/3D Model/components/servo1/servo1.3ds
 mode change 100755 => 100644 artwork/3D Model/components/servo1/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/helis/t-rex/t-rex_450_xl.3ds
 mode change 100755 => 100644 artwork/3D Model/helis/t-rex/t-rex_450_xl.jpg
 mode change 100755 => 100644 artwork/3D Model/helis/t-rex/t-rex_450_xl.wav
 mode change 100755 => 100644 artwork/3D Model/helis/t-rex/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/aeroquad/aeroquad.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/aeroquad/aeroquad_+.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/aeroquad/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/easy_quad/boards.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/easy_quad/easy_quad_X.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/easy_quad/easy_quad_X.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/easy_quad/logo.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/easy_quad/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/gaui_330x/gaui_330x.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/gaui_330x/gaui_330x.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/gaui_330x/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Hexa.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Hexa.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_L4-ME.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_L4-ME.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Okto.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Okto.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Okto2.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/MK_Okto2.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/mikrokopter/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/scorpion_tricopter/scorpion_tricopter.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/scorpion_tricopter/scorpion_tricopter.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/scorpion_tricopter/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/TEXTURE.PNG
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_+-old.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_+-old.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_+.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_+.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_X-old.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_X-old.jpg
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_X.3ds
 mode change 100755 => 100644 artwork/3D Model/multi/test_quad/test_quad_X.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/Easystar/easystar.3ds
 mode change 100755 => 100644 artwork/3D Model/planes/Easystar/easystar.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/Easystar/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/firecracker/firecracker.3ds
 mode change 100755 => 100644 artwork/3D Model/planes/firecracker/firecracker.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/firecracker/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/funjet/funjet.3ds
 mode change 100755 => 100644 artwork/3D Model/planes/funjet/funjet.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/funjet/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/zagi/texture.jpg
 mode change 100755 => 100644 artwork/3D Model/planes/zagi/zagi.3ds
 mode change 100755 => 100644 artwork/3D Model/planes/zagi/zagi.jpg
 mode change 100755 => 100644 artwork/Dials/deluxe/lineardial-horizontal.svg
 mode change 100755 => 100644 artwork/Dials/deluxe/lineardial-vertical.svg
 mode change 100755 => 100644 artwork/PFD/pfd.svg
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/stm32f10x.h
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/system_stm32f10x.h
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
 mode change 100755 => 100644 flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
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old mode 100755
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diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec b/ground/openpilotgcs/src/plugins/uploader/Uploader.pluginspec
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.pro b/ground/openpilotgcs/src/plugins/uploader/uploader.pro
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadget.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadget.h
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetconfiguration.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetconfiguration.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetconfiguration.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetconfiguration.h
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetfactory.h
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.h
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploaderplugin.cpp b/ground/openpilotgcs/src/plugins/uploader/uploaderplugin.cpp
old mode 100755
new mode 100644
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploaderplugin.h b/ground/openpilotgcs/src/plugins/uploader/uploaderplugin.h
old mode 100755
new mode 100644
diff --git a/matlab/ins/analyzeEKF.m b/matlab/ins/analyzeEKF.m
old mode 100755
new mode 100644
diff --git a/matlab/ins/compile.m b/matlab/ins/compile.m
old mode 100755
new mode 100644
diff --git a/matlab/ins/insgps.c b/matlab/ins/insgps.c
old mode 100755
new mode 100644
diff --git a/matlab/ins/insgps.h b/matlab/ins/insgps.h
old mode 100755
new mode 100644
diff --git a/matlab/ins/insgps_ml.c b/matlab/ins/insgps_ml.c
old mode 100755
new mode 100644
diff --git a/matlab/ins/insgps_ml.m b/matlab/ins/insgps_ml.m
old mode 100755
new mode 100644
diff --git a/matlab/ins/inspgs_ml.m b/matlab/ins/inspgs_ml.m
old mode 100755
new mode 100644
diff --git a/matlab/ins/test.m b/matlab/ins/test.m
old mode 100755
new mode 100644
diff --git a/package/linux/openpilot.png b/package/linux/openpilot.png
old mode 100755
new mode 100644
diff --git a/package/linux/openpilot_menu.png b/package/linux/openpilot_menu.png
old mode 100755
new mode 100644
diff --git a/shared/uavobjectdefinition/oplinkstatus.xml b/shared/uavobjectdefinition/oplinkstatus.xml
old mode 100755
new mode 100644

From 8a3881b0cf2d66043961c6f89fb3b25fd97d977f Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 02:14:35 +0300
Subject: [PATCH 106/125] Move README.txt from flight to top, it points to
 OpenPilot Developer Manual

---
 flight/README.txt => README.txt | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename flight/README.txt => README.txt (100%)

diff --git a/flight/README.txt b/README.txt
similarity index 100%
rename from flight/README.txt
rename to README.txt

From e2bcac4e21f6ef91b9d63188888851db5da28733 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 03:31:09 +0300
Subject: [PATCH 107/125] .gitattributes: add a note how to renormalize old
 branches for merge

---
 .gitattributes | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.gitattributes b/.gitattributes
index 260bbe52b..9b4c80545 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2,8 +2,11 @@
 # Line endings normalization: http://wiki.openpilot.org/display/Doc/Coding+Style
 # You need at least git 1.7.2 for this to work (previous versions ignore text and eol attributes).
 #
-# Make sure you have committed all local changes first. Then use the following bash commands
-# to normalize your local repository to be able to merge it with a mainline:
+# To merge your old branch with new normalized version use the following git option:
+#   git merge ... -X renormalize
+#
+# To reformat your local branch completely make sure you have committed all local changes first.
+# Then use the following bash commands:
 #
 # Minimal normalization:
 #   git rm --cached -r .

From f283b66a2f334022705dc57bc236745d86d8aee4 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 12:52:36 +0300
Subject: [PATCH 108/125] uncrustify: add config comment for "don't indent this
 section" option

---
 make/templates/uncrustify.cfg | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/make/templates/uncrustify.cfg b/make/templates/uncrustify.cfg
index ff791ae5d..e4e60eb43 100644
--- a/make/templates/uncrustify.cfg
+++ b/make/templates/uncrustify.cfg
@@ -5,6 +5,9 @@
 # Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
 #
 
+# Use comments containing '*INDENT-OFF*' and '*INDENT-ON*' to disable
+# processing of parts of the source file.
+
 #
 # General options
 #

From 0bff67822b1fc88fbe49719ed36493c63fa490ae Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 16:42:47 +0300
Subject: [PATCH 109/125] tools: yet another fix for md5 calculation

---
 make/tools.mk | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/make/tools.mk b/make/tools.mk
index 4607b429d..ecf655002 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -119,7 +119,7 @@ JAVAC		:= javac
 JAR		:= jar
 GIT		:= git
 CURL		:= curl
-MD5		:= openssl dgst -md5
+OPENSSL		:= openssl
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
 # It does not work if make started under msysGit installed into a path with spaces.
@@ -183,6 +183,17 @@ ifneq ($(strip $(filter $(addsuffix _install,all_sdk $(ALL_SDK_TARGETS)),$(MAKEC
     $(info $(EMPTY) NOTE        Add 'V=1' to make command line to diagnose make problems)
 endif
 
+##############################
+#
+# Cross-platform MD5 check template
+#  $(1) = file name without quotes
+#  $(2) = string compare operator, e.g. = or !=
+#
+##############################
+define MD5_CHECK_TEMPLATE
+"`test -f \"$(1)\" && $(OPENSSL) dgst -md5 \"$(1)\" | $(CUT) -f2 -d' '`" $(2) "`$(CUT) -f1 -d' ' < \"$(1).md5\"`"
+endef
+
 ##############################
 #
 # Common tool install template
@@ -204,13 +215,13 @@ $(1)_install: $(1)_clean | $(DL_DIR) $(TOOLS_DIR)
 	$(V1) ( \
 		cd "$(DL_DIR)" && \
 		$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4).md5" "$(3).md5" && \
-		if [ x`$(MD5) < "$(DL_DIR)/$(4)"` != x`$(CUT) -f1 -d' ' < "$(DL_DIR)/$(4).md5"` ]; then \
+		if [ $(call MD5_CHECK_TEMPLATE,$(DL_DIR)/$(4),!=) ]; then \
 			$(ECHO) $(MSG_DOWNLOADING) $(3) && \
 			$(CURL) $(CURL_OPTIONS) -o "$(DL_DIR)/$(4)" "$(3)" && \
 			$(ECHO) $(MSG_CHECKSUMMING) $$(call toprel, $(DL_DIR)/$(4)) && \
-			[ x`$(MD5) < "$(DL_DIR)/$(4)"` = x`$(CUT) -f1 -d' ' < "$(DL_DIR)/$(4).md5"` ]; \
+			[ $(call MD5_CHECK_TEMPLATE,$(DL_DIR)/$(4),=) ]; \
 		fi; \
-	) 2>/dev/null
+	)
 
 	@$(ECHO) $(MSG_EXTRACTING) $$(call toprel, $(2))
 	$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))

From 15fd460275e9e53e5abd6bb982dc82adab55315b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 20:09:38 +0200
Subject: [PATCH 110/125] Normalize line endings for *.sh after .gitattributes
 update

---
 make/scripts/win_sdk_install.sh | 192 ++++++++++++++++----------------
 make/winx86/cmd/make.sh         |  18 +--
 2 files changed, 105 insertions(+), 105 deletions(-)

diff --git a/make/scripts/win_sdk_install.sh b/make/scripts/win_sdk_install.sh
index 94297fa62..b6b3c1ce1 100644
--- a/make/scripts/win_sdk_install.sh
+++ b/make/scripts/win_sdk_install.sh
@@ -1,96 +1,96 @@
-#!/bin/bash
-#
-# win_sdk_install.sh - Windows toolchain install script.
-# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
-#
-# This program is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful, but
-# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-# for more details.
-#
-# You should have received a copy of the GNU General Public License along
-# with this program; if not, write to the Free Software Foundation, Inc.,
-# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-#
-
-# This script should be launched from git bash prompt. It assumes MSYS
-# environment and expects path names in the form of /C/some/path, where
-# C is a drive letter, and paths are in MSYS format. It probably won't
-# work under cygwin.
-SCRIPT_PATH="`echo "$BASH_SOURCE" | sed 's|\\\\|/|g; s|^\(.\):|/\1|'`"
-SCRIPT_NAME="`basename \"$SCRIPT_PATH\"`"
-SCRIPT_DIR="`dirname \"$SCRIPT_PATH\"`"
-ROOT_DIR="`pushd \"$SCRIPT_DIR/../..\" >/dev/null && pwd && popd >/dev/null`"
-TOOLS_DIR="$ROOT_DIR/tools"
-
-# Tools URLs to fetch
-WGET_URL="http://wiki.openpilot.org/download/attachments/18612236/wget.exe"
-MAKE_URL="http://wiki.openpilot.org/download/attachments/18612236/make.exe"
-
-# Expected tools paths
-WGET="$TOOLS_DIR/bin/`basename \"$WGET_URL\"`"
-MAKE="$TOOLS_DIR/bin/`basename \"$MAKE_URL\"`"
-
-# wget is necessary to fetch other files
-WGET_NAME="`basename \"$WGET\"`"
-if [ ! -x "$WGET" ]; then
-    echo "$SCRIPT_NAME: $WGET_NAME not found, fetching from $WGET_URL"
-    mkdir -p "`dirname \"$WGET\"`"
-
-    VBSCRIPT="$TOOLS_DIR/fetch.$$.vbs"
-    cat >"$VBSCRIPT" <<-EOF
-	url  = WScript.Arguments.Item(0)
-	file = WScript.Arguments.Item(1)
-
-	Dim xHttp: Set xHttp = CreateObject("MSXML2.ServerXMLHTTP")
-	xHttp.Open "GET", url, False
-	xHttp.setOption 2, SXH_SERVER_CERT_IGNORE_ALL_SERVER_ERRORS
-	xHttp.Send
-
-	If xHttp.Status = 200 Then
-	    Dim bStrm: Set bStrm = CreateObject("AdoDb.Stream")
-	    With bStrm
-	        .Type = 1 '// binary
-	        .Open
-	        .Write xHttp.ResponseBody
-	        .SaveToFile file, 2 '// overwrite
-	        .Close
-	    End With
-	    WScript.Quit(0)
-	Else
-	    WScript.Quit(1)
-	End IF
-EOF
-
-    cscript "$VBSCRIPT" "$WGET_URL" "$WGET"
-    rc=$?
-    rm "$VBSCRIPT"
-
-    if [ $rc -ne 0 ]; then
-        echo "$SCRIPT_NAME: $WGET_NAME fetch error, hope it's in the path..."
-        WGET="$WGET_NAME"
-    fi
-fi
-
-# make is necessary to fetch all SDKs
-MAKE_NAME="`basename \"$MAKE\"`"
-if [ ! -x "$MAKE" ]; then
-    echo "$SCRIPT_NAME: $MAKE_NAME not found, fetching from $MAKE_URL"
-    MAKE_DIR="`dirname \"$MAKE\"`"
-    mkdir -p "$MAKE_DIR"
-    $WGET -N --content-disposition -P "$MAKE_DIR" "$MAKE_URL"
-    if [ $? -ne 0 ]; then
-        echo "$SCRIPT_NAME: $MAKE_NAME fetch error, hope it's in the path..."
-        MAKE="$MAKE_NAME"
-    fi
-fi
-
-# Finally we can fetch all SDKs using top level Makefile
-cd "$ROOT_DIR"
-echo "Run 'tools/bin/make all_sdk_install' to install the other tools"
-echo " or 'tools/bin/make help' for more info on make targets"
+#!/bin/bash
+#
+# win_sdk_install.sh - Windows toolchain install script.
+# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+# This script should be launched from git bash prompt. It assumes MSYS
+# environment and expects path names in the form of /C/some/path, where
+# C is a drive letter, and paths are in MSYS format. It probably won't
+# work under cygwin.
+SCRIPT_PATH="`echo "$BASH_SOURCE" | sed 's|\\\\|/|g; s|^\(.\):|/\1|'`"
+SCRIPT_NAME="`basename \"$SCRIPT_PATH\"`"
+SCRIPT_DIR="`dirname \"$SCRIPT_PATH\"`"
+ROOT_DIR="`pushd \"$SCRIPT_DIR/../..\" >/dev/null && pwd && popd >/dev/null`"
+TOOLS_DIR="$ROOT_DIR/tools"
+
+# Tools URLs to fetch
+WGET_URL="http://wiki.openpilot.org/download/attachments/18612236/wget.exe"
+MAKE_URL="http://wiki.openpilot.org/download/attachments/18612236/make.exe"
+
+# Expected tools paths
+WGET="$TOOLS_DIR/bin/`basename \"$WGET_URL\"`"
+MAKE="$TOOLS_DIR/bin/`basename \"$MAKE_URL\"`"
+
+# wget is necessary to fetch other files
+WGET_NAME="`basename \"$WGET\"`"
+if [ ! -x "$WGET" ]; then
+    echo "$SCRIPT_NAME: $WGET_NAME not found, fetching from $WGET_URL"
+    mkdir -p "`dirname \"$WGET\"`"
+
+    VBSCRIPT="$TOOLS_DIR/fetch.$$.vbs"
+    cat >"$VBSCRIPT" <<-EOF
+	url  = WScript.Arguments.Item(0)
+	file = WScript.Arguments.Item(1)
+
+	Dim xHttp: Set xHttp = CreateObject("MSXML2.ServerXMLHTTP")
+	xHttp.Open "GET", url, False
+	xHttp.setOption 2, SXH_SERVER_CERT_IGNORE_ALL_SERVER_ERRORS
+	xHttp.Send
+
+	If xHttp.Status = 200 Then
+	    Dim bStrm: Set bStrm = CreateObject("AdoDb.Stream")
+	    With bStrm
+	        .Type = 1 '// binary
+	        .Open
+	        .Write xHttp.ResponseBody
+	        .SaveToFile file, 2 '// overwrite
+	        .Close
+	    End With
+	    WScript.Quit(0)
+	Else
+	    WScript.Quit(1)
+	End IF
+EOF
+
+    cscript "$VBSCRIPT" "$WGET_URL" "$WGET"
+    rc=$?
+    rm "$VBSCRIPT"
+
+    if [ $rc -ne 0 ]; then
+        echo "$SCRIPT_NAME: $WGET_NAME fetch error, hope it's in the path..."
+        WGET="$WGET_NAME"
+    fi
+fi
+
+# make is necessary to fetch all SDKs
+MAKE_NAME="`basename \"$MAKE\"`"
+if [ ! -x "$MAKE" ]; then
+    echo "$SCRIPT_NAME: $MAKE_NAME not found, fetching from $MAKE_URL"
+    MAKE_DIR="`dirname \"$MAKE\"`"
+    mkdir -p "$MAKE_DIR"
+    $WGET -N --content-disposition -P "$MAKE_DIR" "$MAKE_URL"
+    if [ $? -ne 0 ]; then
+        echo "$SCRIPT_NAME: $MAKE_NAME fetch error, hope it's in the path..."
+        MAKE="$MAKE_NAME"
+    fi
+fi
+
+# Finally we can fetch all SDKs using top level Makefile
+cd "$ROOT_DIR"
+echo "Run 'tools/bin/make all_sdk_install' to install the other tools"
+echo " or 'tools/bin/make help' for more info on make targets"
diff --git a/make/winx86/cmd/make.sh b/make/winx86/cmd/make.sh
index a2ae771d5..bcea06681 100644
--- a/make/winx86/cmd/make.sh
+++ b/make/winx86/cmd/make.sh
@@ -1,9 +1,9 @@
-#
-# make command replacement to run from command prompt under bash
-#
-# This file should be put into C:\Program Files\Git\cmd\ subdirectory
-# (or similar, depeding on where the msysGit package was installed)
-# to provide a shell prompt in the unix-like build environment on Windows.
-#
-
-exec /bin/make $*
+#
+# make command replacement to run from command prompt under bash
+#
+# This file should be put into C:\Program Files\Git\cmd\ subdirectory
+# (or similar, depeding on where the msysGit package was installed)
+# to provide a shell prompt in the unix-like build environment on Windows.
+#
+
+exec /bin/make $*

From 8f784ac6cbf5e0cf973c5dca68665961311dd75c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 21:18:42 +0300
Subject: [PATCH 111/125] flight: remove unnecessary #include "systemmod.h"
 from boards

---
 flight/Modules/OPLink/oplinkmod.c                            | 1 -
 flight/targets/boards/coptercontrol/firmware/coptercontrol.c | 1 -
 flight/targets/boards/oplinkmini/firmware/oplink.c           | 1 -
 flight/targets/boards/osd/firmware/osd.c                     | 1 -
 flight/targets/boards/revolution/firmware/revolution.c       | 1 -
 flight/targets/boards/revoproto/firmware/revolution.c        | 1 -
 6 files changed, 6 deletions(-)

diff --git a/flight/Modules/OPLink/oplinkmod.c b/flight/Modules/OPLink/oplinkmod.c
index 43ff51976..26be45c62 100644
--- a/flight/Modules/OPLink/oplinkmod.c
+++ b/flight/Modules/OPLink/oplinkmod.c
@@ -43,7 +43,6 @@
 #include <pios_rfm22b.h>
 #include <pios_board_info.h>
 #include <oplinksettings.h>
-#include "systemmod.h"
 
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
diff --git a/flight/targets/boards/coptercontrol/firmware/coptercontrol.c b/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
index 585500bc1..3a7cdeac0 100644
--- a/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
+++ b/flight/targets/boards/coptercontrol/firmware/coptercontrol.c
@@ -34,7 +34,6 @@
 #include "inc/openpilot.h"
 #include <uavobjectsinit.h>
 #include <hwsettings.h>
-#include <systemmod.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/boards/oplinkmini/firmware/oplink.c b/flight/targets/boards/oplinkmini/firmware/oplink.c
index 80c60c2c3..dafbbacc3 100644
--- a/flight/targets/boards/oplinkmini/firmware/oplink.c
+++ b/flight/targets/boards/oplinkmini/firmware/oplink.c
@@ -34,7 +34,6 @@
 #include "inc/openpilot.h"
 #include <uavobjectsinit.h>
 #include <hwsettings.h>
-#include <systemmod.h>
 
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)
diff --git a/flight/targets/boards/osd/firmware/osd.c b/flight/targets/boards/osd/firmware/osd.c
index a75ab23ff..f43bacc96 100644
--- a/flight/targets/boards/osd/firmware/osd.c
+++ b/flight/targets/boards/osd/firmware/osd.c
@@ -32,7 +32,6 @@
 // *****************************************************************************
 
 #include "inc/openpilot.h"
-#include <systemmod.h>
 #include <string.h>
 
 /* Task Priorities */
diff --git a/flight/targets/boards/revolution/firmware/revolution.c b/flight/targets/boards/revolution/firmware/revolution.c
index 9fc06d518..65a7db7dd 100644
--- a/flight/targets/boards/revolution/firmware/revolution.c
+++ b/flight/targets/boards/revolution/firmware/revolution.c
@@ -33,7 +33,6 @@
 
 
 #include "inc/openpilot.h"
-#include <systemmod.h>
 #include <uavobjectsinit.h>
 
 /* Task Priorities */
diff --git a/flight/targets/boards/revoproto/firmware/revolution.c b/flight/targets/boards/revoproto/firmware/revolution.c
index f894464a4..5785cd655 100644
--- a/flight/targets/boards/revoproto/firmware/revolution.c
+++ b/flight/targets/boards/revoproto/firmware/revolution.c
@@ -32,7 +32,6 @@
  */
 
 #include "inc/openpilot.h"
-#include <systemmod.h>
 #include <uavobjectsinit.h>
 
 /* Task Priorities */

From 0f6599d949de489a6b8f261dd31e505867acf3d9 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 21:26:05 +0300
Subject: [PATCH 112/125] Move GPLv3.txt from flight/Doc/License/ to top
 directory and convert to CRLF

---
 flight/Doc/License/GPLv3.txt => GPLv3.txt | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename flight/Doc/License/GPLv3.txt => GPLv3.txt (100%)

diff --git a/flight/Doc/License/GPLv3.txt b/GPLv3.txt
similarity index 100%
rename from flight/Doc/License/GPLv3.txt
rename to GPLv3.txt

From 8018050addf34e5164f67cad976138091ca8c309 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 22:17:42 +0300
Subject: [PATCH 113/125] Move document from source repository to wiki

http://wiki.openpilot.org/display/Doc/UAVObjects+to+Widgets+Relations+Framework
---
 .../UAVObj relations Framework document.doc    | Bin 162304 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 ground/docs/UAVObj relations Framework document.doc

diff --git a/ground/docs/UAVObj relations Framework document.doc b/ground/docs/UAVObj relations Framework document.doc
deleted file mode 100644
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O{h#Td#u1P|{{II<RiY{Y


From 71465232f037bb0d1b6c564d8efefcf4255502bc Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 21:59:41 +0300
Subject: [PATCH 114/125] Remove obsolete flight/Doc/* files (they do not
 contain actual info)

---
 flight/Doc/Architecture/HiTLArchitecture.dia  | Bin 11096 -> 0 bytes
 .../Doc/Architecture/OPModuleArchitecture.dia | Bin 10115 -> 0 bytes
 flight/Doc/Architecture/stm32_i2c_fsm.dot     | 172 ------------------
 flight/Doc/Architecture/stm32_i2c_fsm.jpg     | Bin 206210 -> 0 bytes
 4 files changed, 172 deletions(-)
 delete mode 100644 flight/Doc/Architecture/HiTLArchitecture.dia
 delete mode 100644 flight/Doc/Architecture/OPModuleArchitecture.dia
 delete mode 100644 flight/Doc/Architecture/stm32_i2c_fsm.dot
 delete mode 100644 flight/Doc/Architecture/stm32_i2c_fsm.jpg

diff --git a/flight/Doc/Architecture/HiTLArchitecture.dia b/flight/Doc/Architecture/HiTLArchitecture.dia
deleted file mode 100644
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diff --git a/flight/Doc/Architecture/stm32_i2c_fsm.dot b/flight/Doc/Architecture/stm32_i2c_fsm.dot
deleted file mode 100644
index fe34d4db4..000000000
--- a/flight/Doc/Architecture/stm32_i2c_fsm.dot
+++ /dev/null
@@ -1,172 +0,0 @@
-// Regenerate using graphviz/dotty with this command
-//   dot -Tjpg ./flight/Doc/Architecture/stm32_i2c_fsm.dot > ./flight/Doc/Architecture/stm32_i2c_fsm.jpg
-
-digraph stm32_i2c_fsm {
-  label="STM32 I2C FSM"
-  labelloc=t
-  labeljust = l
-
-  {
-    node [ style=filled,color=lightgray ]
-
-    stopped [ shape="doublecircle" ]
-  }
-
-  node [ style=filled,color=blue ]
-
-  {
-    rank=same
-    stopped
-    stopping
-    starting
-  }
-
-  // start addr/w[A] data[A] stop
-  //     SB       ADDR     BTF
-  //      ADDR     DR
-  //                STOP
-  //
-  // start addr/w[A] data[A] data[A] stop
-  //     SB       ADDR     BTF     BTF
-  //      ADDR     DR       DR
-  //                         STOP
-  //
-  // start addr/w[A] data[A] data[A] data[A] stop
-  //     SB       ADDR     BTF     BTF     BTF
-  //      ADDR     DR       DR      DR
-  //                                 STOP
-  //
-  subgraph cluster_w_last_txn {
-    label="Final Write Txn"
-    w_last_txn_addr
-    w_last_txn_middle
-    w_last_txn_last
-  }
-
-  // start addr/w[A] data[A] start
-  //     SB       ADDR     BTF
-  //      ADDR     DR
-  //                START
-  //
-  // start addr/w[A] data[A] data[A] start
-  //     SB       ADDR     BTF     BTF
-  //      ADDR     DR       DR
-  //                         START
-  //
-  // start addr/w[A] data[A] data[A] data[A] stop
-  //     SB       ADDR     BTF     BTF     BTF
-  //      ADDR     DR       DR      DR
-  //                                 START
-  //
-  subgraph cluster_w_more_txn {
-    label="Write Txn with Restart"
-    w_more_txn_addr
-    w_more_txn_middle
-    w_more_txn_last
-  }
-
-  // start addr/r[A] [data] N stop
-  //     SB       ADDR     RXNE
-  //      ADDR     STOP    DR
-  //               NAK
-  //
-  // start addr/r[A] [data] A [data] N stop
-  //     SB       ADDR     RXNE     RXNE
-  //      ADDR             DR       DR
-  //               ACK      NAK
-  //                        STOP
-  //
-  // start addr/r[A] [data] A [data] A [data] N stop
-  //     SB       ADDR     RXNE     RXNE     RXNE
-  //      ADDR             DR       DR       DR
-  //               ACK      ACK      NAK
-  //                                 STOP
-  //
-  subgraph cluster_r_last_txn {
-    label="Final Read Txn"
-    r_last_txn_addr
-    r_last_txn_pre_one
-    r_last_txn_pre_first
-    r_last_txn_pre_middle
-    r_last_txn_pre_last
-    r_last_txn_post_last
-  }
-
-  // start addr/r[A] [data] N start
-  //     SB       ADDR     RXNE
-  //      ADDR     START   DR
-  //               NAK
-  //
-  // start addr/r[A] [data] A [data] N start
-  //     SB       ADDR     RXNE     RXNE
-  //      ADDR             DR       DR
-  //               ACK      NAK
-  //                        START
-  //
-  // start addr/r[A] [data] A [data] A [data] N start
-  //     SB       ADDR     RXNE     RXNE     RXNE
-  //      ADDR             DR       DR       DR
-  //               ACK      ACK      NAK
-  //                                 START
-  subgraph cluster_r_more_txn {
-    label="Read Txn with Restart"
-    r_more_txn_addr
-    r_more_txn_pre_one
-    r_more_txn_pre_first
-    r_more_txn_pre_middle
-    r_more_txn_pre_last
-    r_more_txn_post_last
-  }
-
-  stopping -> stopped [ label="auto" ]
-  stopped -> starting [ label="start" ]
-
-  starting -> w_last_txn_addr [ label="SB\nop=write\nlast txn" ]
-  starting -> w_more_txn_addr [ label="SB\nop=write\nmore txn" ]
-
-  starting -> r_last_txn_addr [ label="SB\nop=read\nlast txn" ]
-  starting -> r_more_txn_addr [ label="SB\nop=read\nmore txn" ]
-
-  w_last_txn_addr -> w_last_txn_last [ label="ADDR\nlen==1" ]
-  w_more_txn_addr -> w_more_txn_last [ label="ADDR\nlen==1" ]
-
-  w_last_txn_addr -> w_last_txn_middle [ label="ADDR\nlen>1" ]
-  w_more_txn_addr -> w_more_txn_middle [ label="ADDR\nlen>1" ]
-
-  w_last_txn_middle -> w_last_txn_middle [ label="BTF\nlen>1" ]
-  w_more_txn_middle -> w_more_txn_middle [ label="BTF\nlen>1" ]
-
-  w_last_txn_middle -> w_last_txn_last [ label="BTF\nlen==1" ]
-  w_more_txn_middle -> w_more_txn_last [ label="BTF\nlen==1" ]
-
-  w_last_txn_last -> stopped [ label="BTF\nlen==0" ]
-  w_more_txn_last -> starting [ label="BTF\nlen==0" ]
-
-
-  r_last_txn_addr -> r_last_txn_pre_one [ label="ADDR\nlen==1" ]
-  r_more_txn_addr -> r_more_txn_pre_one [ label="ADDR\nlen==1" ]
-
-  r_last_txn_addr -> r_last_txn_pre_first [ label="ADDR\nlen>=2" ]
-  r_more_txn_addr -> r_more_txn_pre_first [ label="ADDR\nlen>=2" ]
-
-  r_last_txn_pre_one -> r_last_txn_post_last [ label="BTF\nlen==1" ]
-  r_more_txn_pre_one -> r_more_txn_post_last [ label="BTF\nlen==1" ]
-
-  r_last_txn_pre_first -> r_last_txn_pre_last [ label="BTF\nlen==2" ]
-  r_more_txn_pre_first -> r_more_txn_pre_last [ label="BTF\nlen==2" ]
-
-  r_last_txn_pre_first -> r_last_txn_pre_middle [ label="BTF\nlen>2" ]
-  r_more_txn_pre_first -> r_more_txn_pre_middle [ label="BTF\nlen>2" ]
-
-  r_last_txn_pre_middle -> r_last_txn_pre_middle [ label="BTF\nlen>2" ]
-  r_more_txn_pre_middle -> r_more_txn_pre_middle [ label="BTF\nlen>2" ]
-
-  r_last_txn_pre_middle -> r_last_txn_pre_last [ label="BTF\nlen==2" ]
-  r_more_txn_pre_middle -> r_more_txn_pre_last [ label="BTF\nlen==2" ]
-
-  r_last_txn_pre_last -> r_last_txn_post_last [ label="BTF\nlen==1" ]
-  r_more_txn_pre_last -> r_more_txn_post_last [ label="BTF\nlen==1" ]
-
-  r_last_txn_post_last -> stopping [ label="auto" ]
-  r_more_txn_post_last -> starting [ label="auto" ]
-}
diff --git a/flight/Doc/Architecture/stm32_i2c_fsm.jpg b/flight/Doc/Architecture/stm32_i2c_fsm.jpg
deleted file mode 100644
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GIT binary patch
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From 748b28f4f43134aeadc8dec9250f055fdd26d0e7 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 21:54:55 +0300
Subject: [PATCH 115/125] Move doxygen config from flight to make/doxygen/

---
 Makefile                                      |   13 +-
 .../targets/boards/simposix/firmware/Makefile |    4 -
 make/.gitattributes                           |    1 +
 make/apps-defs.mk                             |    1 -
 make/common-defs.mk                           |    4 -
 .../Doc/Doxygen => make/doxygen}/doxygen.cfg  | 3102 ++++++++---------
 make/tools.mk                                 |    1 +
 7 files changed, 1565 insertions(+), 1561 deletions(-)
 rename {flight/Doc/Doxygen => make/doxygen}/doxygen.cfg (97%)

diff --git a/Makefile b/Makefile
index 1e30515fe..4caed794e 100644
--- a/Makefile
+++ b/Makefile
@@ -192,7 +192,6 @@ export FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
 export OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
-export DOXYGENDIR    := $(ROOT_DIR)/flight/Doc/Doxygen
 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
@@ -815,6 +814,18 @@ build-info:
 		--template="make/templates/$@.txt" \
 		--outfile="$(BUILD_DIR)/$@.txt"
 
+##############################
+#
+# Doxygen documentation
+# FIXME: currently is not not used and should be updated
+#
+##############################
+
+# Generate Doxygen documentation
+.PHONY: docs
+docs:
+	$(DOXYGEN) $(ROOT_DIR)/make/doxygen/doxygen.cfg
+
 ##############################
 #
 # Help message, the default Makefile goal
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index e50706621..c6c8d4fa9 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -330,10 +330,6 @@ opfw: $(OUTDIR)/$(TARGET).opfw
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 
-# Generate Doxygen documents
-docs:
-	doxygen  $(DOXYGENDIR)/doxygen.cfg
-
 # Install: install binary file with prefix/suffix into install directory
 install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
diff --git a/make/.gitattributes b/make/.gitattributes
index 0b8884f06..a2d27fb20 100644
--- a/make/.gitattributes
+++ b/make/.gitattributes
@@ -6,6 +6,7 @@
 *.py		text eol=lf
 *.sh		text eol=lf
 
+/doxygen/*.cfg				text eol=lf
 /templates/firmwareinfotemplate.c 	text eol=lf
 /templates/gcs_version_info_template.h	text eol=crlf
 /templates/*.txt			text eol=crlf
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 68bdcb572..6423358d0 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -42,7 +42,6 @@ FREERTOS_DIR	 = $(PIOSCOMMON)/Libraries/FreeRTOS
 include $(FREERTOS_DIR)/library.mk
 
 ## Misc
-DOXYGENDIR	= $(ROOT_DIR)/flight/Doc/Doxygen
 OPTESTS		= $(TOPDIR)/Tests
 
 ## PIOS Hardware
diff --git a/make/common-defs.mk b/make/common-defs.mk
index 97ee3a818..a152b01d7 100644
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@@ -240,10 +240,6 @@ opfw: $(OUTDIR)/$(TARGET).opfw
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 
-# Generate Doxygen documents
-docs:
-	doxygen  $(DOXYGENDIR)/doxygen.cfg
-
 # Target: clean project
 clean:
 	@echo $(MSG_CLEANING)
diff --git a/flight/Doc/Doxygen/doxygen.cfg b/make/doxygen/doxygen.cfg
similarity index 97%
rename from flight/Doc/Doxygen/doxygen.cfg
rename to make/doxygen/doxygen.cfg
index dec54aa81..54e18fae8 100644
--- a/flight/Doc/Doxygen/doxygen.cfg
+++ b/make/doxygen/doxygen.cfg
@@ -1,1551 +1,1551 @@
-# Doxyfile 1.6.2
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project
-#
-# All text after a hash (#) is considered a comment and will be ignored
-# The format is:
-#       TAG = value [value, ...]
-# For lists items can also be appended using:
-#       TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-
-# This tag specifies the encoding used for all characters in the config file
-# that follow. The default is UTF-8 which is also the encoding used for all
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the
-# iconv built into libc) for the transcoding. See
-# http://www.gnu.org/software/libiconv for the list of possible encodings.
-
-DOXYFILE_ENCODING      = UTF-8
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
-# by quotes) that should identify the project.
-
-PROJECT_NAME           = OpenPilot
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number.
-# This could be handy for archiving the generated documentation or
-# if some version control system is used.
-
-PROJECT_NUMBER         =
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
-# base path where the generated documentation will be put.
-# If a relative path is entered, it will be relative to the location
-# where doxygen was started. If left blank the current directory will be used.
-
-OUTPUT_DIRECTORY       = Doc/Doxygen/
-
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
-# 4096 sub-directories (in 2 levels) under the output directory of each output
-# format and will distribute the generated files over these directories.
-# Enabling this option can be useful when feeding doxygen a huge amount of
-# source files, where putting all generated files in the same directory would
-# otherwise cause performance problems for the file system.
-
-CREATE_SUBDIRS         = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# The default language is English, other supported languages are:
-# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
-# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
-# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
-# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
-# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak,
-# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
-
-OUTPUT_LANGUAGE        = English
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
-# include brief member descriptions after the members that are listed in
-# the file and class documentation (similar to JavaDoc).
-# Set to NO to disable this.
-
-BRIEF_MEMBER_DESC      = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
-# the brief description of a member or function before the detailed description.
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
-# brief descriptions will be completely suppressed.
-
-REPEAT_BRIEF           = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator
-# that is used to form the text in various listings. Each string
-# in this list, if found as the leading text of the brief description, will be
-# stripped from the text and the result after processing the whole list, is
-# used as the annotated text. Otherwise, the brief description is used as-is.
-# If left blank, the following values are used ("$name" is automatically
-# replaced with the name of the entity): "The $name class" "The $name widget"
-# "The $name file" "is" "provides" "specifies" "contains"
-# "represents" "a" "an" "the"
-
-ABBREVIATE_BRIEF       =
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
-# Doxygen will generate a detailed section even if there is only a brief
-# description.
-
-ALWAYS_DETAILED_SEC    = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
-# inherited members of a class in the documentation of that class as if those
-# members were ordinary class members. Constructors, destructors and assignment
-# operators of the base classes will not be shown.
-
-INLINE_INHERITED_MEMB  = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
-# path before files name in the file list and in the header files. If set
-# to NO the shortest path that makes the file name unique will be used.
-
-FULL_PATH_NAMES        = YES
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
-# can be used to strip a user-defined part of the path. Stripping is
-# only done if one of the specified strings matches the left-hand part of
-# the path. The tag can be used to show relative paths in the file list.
-# If left blank the directory from which doxygen is run is used as the
-# path to strip.
-
-STRIP_FROM_PATH        =
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
-# the path mentioned in the documentation of a class, which tells
-# the reader which header file to include in order to use a class.
-# If left blank only the name of the header file containing the class
-# definition is used. Otherwise one should specify the include paths that
-# are normally passed to the compiler using the -I flag.
-
-STRIP_FROM_INC_PATH    =
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
-# (but less readable) file names. This can be useful is your file systems
-# doesn't support long names like on DOS, Mac, or CD-ROM.
-
-SHORT_NAMES            = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
-# will interpret the first line (until the first dot) of a JavaDoc-style
-# comment as the brief description. If set to NO, the JavaDoc
-# comments will behave just like regular Qt-style comments
-# (thus requiring an explicit @brief command for a brief description.)
-
-JAVADOC_AUTOBRIEF      = NO
-
-# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
-# interpret the first line (until the first dot) of a Qt-style
-# comment as the brief description. If set to NO, the comments
-# will behave just like regular Qt-style comments (thus requiring
-# an explicit \brief command for a brief description.)
-
-QT_AUTOBRIEF           = NO
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
-# treat a multi-line C++ special comment block (i.e. a block of //! or ///
-# comments) as a brief description. This used to be the default behaviour.
-# The new default is to treat a multi-line C++ comment block as a detailed
-# description. Set this tag to YES if you prefer the old behaviour instead.
-
-MULTILINE_CPP_IS_BRIEF = NO
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
-# member inherits the documentation from any documented member that it
-# re-implements.
-
-INHERIT_DOCS           = YES
-
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
-# a new page for each member. If set to NO, the documentation of a member will
-# be part of the file/class/namespace that contains it.
-
-SEPARATE_MEMBER_PAGES  = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab.
-# Doxygen uses this value to replace tabs by spaces in code fragments.
-
-TAB_SIZE               = 8
-
-# This tag can be used to specify a number of aliases that acts
-# as commands in the documentation. An alias has the form "name=value".
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to
-# put the command \sideeffect (or @sideeffect) in the documentation, which
-# will result in a user-defined paragraph with heading "Side Effects:".
-# You can put \n's in the value part of an alias to insert newlines.
-
-ALIASES                =
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
-# sources only. Doxygen will then generate output that is more tailored for C.
-# For instance, some of the names that are used will be different. The list
-# of all members will be omitted, etc.
-
-OPTIMIZE_OUTPUT_FOR_C  = YES
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
-# sources only. Doxygen will then generate output that is more tailored for
-# Java. For instance, namespaces will be presented as packages, qualified
-# scopes will look different, etc.
-
-OPTIMIZE_OUTPUT_JAVA   = NO
-
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
-# sources only. Doxygen will then generate output that is more tailored for
-# Fortran.
-
-OPTIMIZE_FOR_FORTRAN   = NO
-
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
-# sources. Doxygen will then generate output that is tailored for
-# VHDL.
-
-OPTIMIZE_OUTPUT_VHDL   = NO
-
-# Doxygen selects the parser to use depending on the extension of the files it parses.
-# With this tag you can assign which parser to use for a given extension.
-# Doxygen has a built-in mapping, but you can override or extend it using this tag.
-# The format is ext=language, where ext is a file extension, and language is one of
-# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP,
-# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat
-# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran),
-# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
-
-EXTENSION_MAPPING      =
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
-# to include (a tag file for) the STL sources as input, then you should
-# set this tag to YES in order to let doxygen match functions declarations and
-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
-# func(std::string) {}). This also make the inheritance and collaboration
-# diagrams that involve STL classes more complete and accurate.
-
-BUILTIN_STL_SUPPORT    = NO
-
-# If you use Microsoft's C++/CLI language, you should set this option to YES to
-# enable parsing support.
-
-CPP_CLI_SUPPORT        = NO
-
-# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
-# Doxygen will parse them like normal C++ but will assume all classes use public
-# instead of private inheritance when no explicit protection keyword is present.
-
-SIP_SUPPORT            = NO
-
-# For Microsoft's IDL there are propget and propput attributes to indicate getter
-# and setter methods for a property. Setting this option to YES (the default)
-# will make doxygen to replace the get and set methods by a property in the
-# documentation. This will only work if the methods are indeed getting or
-# setting a simple type. If this is not the case, or you want to show the
-# methods anyway, you should set this option to NO.
-
-IDL_PROPERTY_SUPPORT   = YES
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
-# member in the group (if any) for the other members of the group. By default
-# all members of a group must be documented explicitly.
-
-DISTRIBUTE_GROUP_DOC   = NO
-
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
-# the same type (for instance a group of public functions) to be put as a
-# subgroup of that type (e.g. under the Public Functions section). Set it to
-# NO to prevent subgrouping. Alternatively, this can be done per class using
-# the \nosubgrouping command.
-
-SUBGROUPING            = YES
-
-# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
-# is documented as struct, union, or enum with the name of the typedef. So
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
-# with name TypeT. When disabled the typedef will appear as a member of a file,
-# namespace, or class. And the struct will be named TypeS. This can typically
-# be useful for C code in case the coding convention dictates that all compound
-# types are typedef'ed and only the typedef is referenced, never the tag name.
-
-TYPEDEF_HIDES_STRUCT   = NO
-
-# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
-# determine which symbols to keep in memory and which to flush to disk.
-# When the cache is full, less often used symbols will be written to disk.
-# For small to medium size projects (<1000 input files) the default value is
-# probably good enough. For larger projects a too small cache size can cause
-# doxygen to be busy swapping symbols to and from disk most of the time
-# causing a significant performance penality.
-# If the system has enough physical memory increasing the cache will improve the
-# performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will rougly double the
-# memory usage. The cache size is given by this formula:
-# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
-# corresponding to a cache size of 2^16 = 65536 symbols
-
-SYMBOL_CACHE_SIZE      = 0
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
-# documentation are documented, even if no documentation was available.
-# Private class members and static file members will be hidden unless
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-
-EXTRACT_ALL            = NO
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
-# will be included in the documentation.
-
-EXTRACT_PRIVATE        = NO
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file
-# will be included in the documentation.
-
-EXTRACT_STATIC         = NO
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
-# defined locally in source files will be included in the documentation.
-# If set to NO only classes defined in header files are included.
-
-EXTRACT_LOCAL_CLASSES  = YES
-
-# This flag is only useful for Objective-C code. When set to YES local
-# methods, which are defined in the implementation section but not in
-# the interface are included in the documentation.
-# If set to NO (the default) only methods in the interface are included.
-
-EXTRACT_LOCAL_METHODS  = NO
-
-# If this flag is set to YES, the members of anonymous namespaces will be
-# extracted and appear in the documentation as a namespace called
-# 'anonymous_namespace{file}', where file will be replaced with the base
-# name of the file that contains the anonymous namespace. By default
-# anonymous namespace are hidden.
-
-EXTRACT_ANON_NSPACES   = NO
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
-# undocumented members of documented classes, files or namespaces.
-# If set to NO (the default) these members will be included in the
-# various overviews, but no documentation section is generated.
-# This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_MEMBERS     = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
-# undocumented classes that are normally visible in the class hierarchy.
-# If set to NO (the default) these classes will be included in the various
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_CLASSES     = NO
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
-# friend (class|struct|union) declarations.
-# If set to NO (the default) these declarations will be included in the
-# documentation.
-
-HIDE_FRIEND_COMPOUNDS  = NO
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
-# documentation blocks found inside the body of a function.
-# If set to NO (the default) these blocks will be appended to the
-# function's detailed documentation block.
-
-HIDE_IN_BODY_DOCS      = NO
-
-# The INTERNAL_DOCS tag determines if documentation
-# that is typed after a \internal command is included. If the tag is set
-# to NO (the default) then the documentation will be excluded.
-# Set it to YES to include the internal documentation.
-
-INTERNAL_DOCS          = NO
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
-# file names in lower-case letters. If set to YES upper-case letters are also
-# allowed. This is useful if you have classes or files whose names only differ
-# in case and if your file system supports case sensitive file names. Windows
-# and Mac users are advised to set this option to NO.
-
-CASE_SENSE_NAMES       = NO
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
-# will show members with their full class and namespace scopes in the
-# documentation. If set to YES the scope will be hidden.
-
-HIDE_SCOPE_NAMES       = NO
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
-# will put a list of the files that are included by a file in the documentation
-# of that file.
-
-SHOW_INCLUDE_FILES     = YES
-
-# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
-# will list include files with double quotes in the documentation
-# rather than with sharp brackets.
-
-FORCE_LOCAL_INCLUDES   = NO
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
-# is inserted in the documentation for inline members.
-
-INLINE_INFO            = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
-# will sort the (detailed) documentation of file and class members
-# alphabetically by member name. If set to NO the members will appear in
-# declaration order.
-
-SORT_MEMBER_DOCS       = YES
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
-# brief documentation of file, namespace and class members alphabetically
-# by member name. If set to NO (the default) the members will appear in
-# declaration order.
-
-SORT_BRIEF_DOCS        = NO
-
-# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
-
-SORT_MEMBERS_CTORS_1ST = NO
-
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
-# hierarchy of group names into alphabetical order. If set to NO (the default)
-# the group names will appear in their defined order.
-
-SORT_GROUP_NAMES       = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
-# sorted by fully-qualified names, including namespaces. If set to
-# NO (the default), the class list will be sorted only by class name,
-# not including the namespace part.
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the
-# alphabetical list.
-
-SORT_BY_SCOPE_NAME     = NO
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or
-# disable (NO) the todo list. This list is created by putting \todo
-# commands in the documentation.
-
-GENERATE_TODOLIST      = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or
-# disable (NO) the test list. This list is created by putting \test
-# commands in the documentation.
-
-GENERATE_TESTLIST      = YES
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or
-# disable (NO) the bug list. This list is created by putting \bug
-# commands in the documentation.
-
-GENERATE_BUGLIST       = YES
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
-# disable (NO) the deprecated list. This list is created by putting
-# \deprecated commands in the documentation.
-
-GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional
-# documentation sections, marked by \if sectionname ... \endif.
-
-ENABLED_SECTIONS       =
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
-# the initial value of a variable or define consists of for it to appear in
-# the documentation. If the initializer consists of more lines than specified
-# here it will be hidden. Use a value of 0 to hide initializers completely.
-# The appearance of the initializer of individual variables and defines in the
-# documentation can be controlled using \showinitializer or \hideinitializer
-# command in the documentation regardless of this setting.
-
-MAX_INITIALIZER_LINES  = 30
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
-# at the bottom of the documentation of classes and structs. If set to YES the
-# list will mention the files that were used to generate the documentation.
-
-SHOW_USED_FILES        = YES
-
-# If the sources in your project are distributed over multiple directories
-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
-# in the documentation. The default is NO.
-
-SHOW_DIRECTORIES       = NO
-
-# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
-# This will remove the Files entry from the Quick Index and from the
-# Folder Tree View (if specified). The default is YES.
-
-SHOW_FILES             = YES
-
-# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
-# Namespaces page.
-# This will remove the Namespaces entry from the Quick Index
-# and from the Folder Tree View (if specified). The default is YES.
-
-SHOW_NAMESPACES        = YES
-
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that
-# doxygen should invoke to get the current version for each file (typically from
-# the version control system). Doxygen will invoke the program by executing (via
-# popen()) the command <command> <input-file>, where <command> is the value of
-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
-# provided by doxygen. Whatever the program writes to standard output
-# is used as the file version. See the manual for examples.
-
-FILE_VERSION_FILTER    =
-
-# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by
-# doxygen. The layout file controls the global structure of the generated output files
-# in an output format independent way. The create the layout file that represents
-# doxygen's defaults, run doxygen with the -l option. You can optionally specify a
-# file name after the option, if omitted DoxygenLayout.xml will be used as the name
-# of the layout file.
-
-LAYOUT_FILE            =
-
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
-
-QUIET                  = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated by doxygen. Possible values are YES and NO. If left blank
-# NO is used.
-
-WARNINGS               = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
-# automatically be disabled.
-
-WARN_IF_UNDOCUMENTED   = YES
-
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some
-# parameters in a documented function, or documenting parameters that
-# don't exist or using markup commands wrongly.
-
-WARN_IF_DOC_ERROR      = YES
-
-# This WARN_NO_PARAMDOC option can be abled to get warnings for
-# functions that are documented, but have no documentation for their parameters
-# or return value. If set to NO (the default) doxygen will only warn about
-# wrong or incomplete parameter documentation, but not about the absence of
-# documentation.
-
-WARN_NO_PARAMDOC       = NO
-
-# The WARN_FORMAT tag determines the format of the warning messages that
-# doxygen can produce. The string should contain the $file, $line, and $text
-# tags, which will be replaced by the file and line number from which the
-# warning originated and the warning text. Optionally the format may contain
-# $version, which will be replaced by the version of the file (if it could
-# be obtained via FILE_VERSION_FILTER)
-
-WARN_FORMAT            = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning
-# and error messages should be written. If left blank the output is written
-# to stderr.
-
-WARN_LOGFILE           =
-
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain
-# documented source files. You may enter file names like "myfile.cpp" or
-# directories like "/usr/src/myproject". Separate the files or directories
-# with spaces.
-
-INPUT                  =  OpenPilot PiOS PiOS/STM32F10x PiOS/STM32F2xx
-
-# This tag can be used to specify the character encoding of the source files
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
-# also the default input encoding. Doxygen uses libiconv (or the iconv built
-# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
-# the list of possible encodings.
-
-INPUT_ENCODING         = UTF-8
-
-# If the value of the INPUT tag contains directories, you can use the
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank the following patterns are tested:
-# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
-# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
-
-FILE_PATTERNS          =
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories
-# should be searched for input files as well. Possible values are YES and NO.
-# If left blank NO is used.
-
-RECURSIVE              = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should
-# excluded from the INPUT source files. This way you can easily exclude a
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-
-EXCLUDE                = .svn
-
-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
-# directories that are symbolic links (a Unix filesystem feature) are excluded
-# from the input.
-
-EXCLUDE_SYMLINKS       = NO
-
-# If the value of the INPUT tag contains directories, you can use the
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
-# certain files from those directories. Note that the wildcards are matched
-# against the file with absolute path, so to exclude all test directories
-# for example use the pattern */test/*
-
-EXCLUDE_PATTERNS       =
-
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
-# (namespaces, classes, functions, etc.) that should be excluded from the
-# output. The symbol name can be a fully qualified name, a word, or if the
-# wildcard * is used, a substring. Examples: ANamespace, AClass,
-# AClass::ANamespace, ANamespace::*Test
-
-EXCLUDE_SYMBOLS        =
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or
-# directories that contain example code fragments that are included (see
-# the \include command).
-
-EXAMPLE_PATH           =
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank all files are included.
-
-EXAMPLE_PATTERNS       =
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
-# searched for input files to be used with the \include or \dontinclude
-# commands irrespective of the value of the RECURSIVE tag.
-# Possible values are YES and NO. If left blank NO is used.
-
-EXAMPLE_RECURSIVE      = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or
-# directories that contain image that are included in the documentation (see
-# the \image command).
-
-IMAGE_PATH             =
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should
-# invoke to filter for each input file. Doxygen will invoke the filter program
-# by executing (via popen()) the command <filter> <input-file>, where <filter>
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
-# input file. Doxygen will then use the output that the filter program writes
-# to standard output.
-# If FILTER_PATTERNS is specified, this tag will be
-# ignored.
-
-INPUT_FILTER           =
-
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
-# basis.
-# Doxygen will compare the file name with each pattern and apply the
-# filter if there is a match.
-# The filters are a list of the form:
-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
-# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
-# is applied to all files.
-
-FILTER_PATTERNS        =
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER) will be used to filter the input files when producing source
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
-
-FILTER_SOURCE_FILES    = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will
-# be generated. Documented entities will be cross-referenced with these sources.
-# Note: To get rid of all source code in the generated output, make sure also
-# VERBATIM_HEADERS is set to NO.
-
-SOURCE_BROWSER         = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body
-# of functions and classes directly in the documentation.
-
-INLINE_SOURCES         = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
-# doxygen to hide any special comment blocks from generated source code
-# fragments. Normal C and C++ comments will always remain visible.
-
-STRIP_CODE_COMMENTS    = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES
-# then for each documented function all documented
-# functions referencing it will be listed.
-
-REFERENCED_BY_RELATION = NO
-
-# If the REFERENCES_RELATION tag is set to YES
-# then for each documented function all documented entities
-# called/used by that function will be listed.
-
-REFERENCES_RELATION    = NO
-
-# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
-# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
-# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
-# link to the source code.
-# Otherwise they will link to the documentation.
-
-REFERENCES_LINK_SOURCE = YES
-
-# If the USE_HTAGS tag is set to YES then the references to source code
-# will point to the HTML generated by the htags(1) tool instead of doxygen
-# built-in source browser. The htags tool is part of GNU's global source
-# tagging system (see http://www.gnu.org/software/global/global.html). You
-# will need version 4.8.6 or higher.
-
-USE_HTAGS              = NO
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
-# will generate a verbatim copy of the header file for each class for
-# which an include is specified. Set to NO to disable this.
-
-VERBATIM_HEADERS       = YES
-
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
-# of all compounds will be generated. Enable this if the project
-# contains a lot of classes, structs, unions or interfaces.
-
-ALPHABETICAL_INDEX     = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX    = 5
-
-# In case all classes in a project start with a common prefix, all
-# classes will be put under the same header in the alphabetical index.
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
-# should be ignored while generating the index headers.
-
-IGNORE_PREFIX          =
-
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
-# generate HTML output.
-
-GENERATE_HTML          = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `html' will be used as the default path.
-
-HTML_OUTPUT            = html
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
-# doxygen will generate files with .html extension.
-
-HTML_FILE_EXTENSION    = .html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard header.
-
-HTML_HEADER            =
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard footer.
-
-HTML_FOOTER            =
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# stylesheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET        =
-
-# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
-# page will contain the date and time when the page was generated. Setting
-# this to NO can help when comparing the output of multiple runs.
-
-HTML_TIMESTAMP         = NO
-
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
-# files or namespaces will be aligned in HTML using tables. If set to
-# NO a bullet list will be used.
-
-HTML_ALIGN_MEMBERS     = YES
-
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
-# documentation will contain sections that can be hidden and shown after the
-# page has loaded. For this to work a browser that supports
-# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
-# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
-
-HTML_DYNAMIC_SECTIONS  = NO
-
-# If the GENERATE_DOCSET tag is set to YES, additional index files
-# will be generated that can be used as input for Apple's Xcode 3
-# integrated development environment, introduced with OSX 10.5 (Leopard).
-# To create a documentation set, doxygen will generate a Makefile in the
-# HTML output directory. Running make will produce the docset in that
-# directory and running "make install" will install the docset in
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
-# it at startup.
-# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information.
-
-GENERATE_DOCSET        = NO
-
-# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
-# feed. A documentation feed provides an umbrella under which multiple
-# documentation sets from a single provider (such as a company or product suite)
-# can be grouped.
-
-DOCSET_FEEDNAME        = "Doxygen generated docs"
-
-# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
-# should uniquely identify the documentation set bundle. This should be a
-# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
-# will append .docset to the name.
-
-DOCSET_BUNDLE_ID       = org.doxygen.Project
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files
-# will be generated that can be used as input for tools like the
-# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
-# of the generated HTML documentation.
-
-GENERATE_HTMLHELP      = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
-# be used to specify the file name of the resulting .chm file. You
-# can add a path in front of the file if the result should not be
-# written to the html output directory.
-
-CHM_FILE               =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
-# be used to specify the location (absolute path including file name) of
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
-# the HTML help compiler on the generated index.hhp.
-
-HHC_LOCATION           =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
-# controls if a separate .chi index file is generated (YES) or that
-# it should be included in the master .chm file (NO).
-
-GENERATE_CHI           = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
-# is used to encode HtmlHelp index (hhk), content (hhc) and project file
-# content.
-
-CHM_INDEX_ENCODING     =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
-# controls whether a binary table of contents is generated (YES) or a
-# normal table of contents (NO) in the .chm file.
-
-BINARY_TOC             = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members
-# to the contents of the HTML help documentation and to the tree view.
-
-TOC_EXPAND             = NO
-
-# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER
-# are set, an additional index file will be generated that can be used as input for
-# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated
-# HTML documentation.
-
-GENERATE_QHP           = NO
-
-# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
-# be used to specify the file name of the resulting .qch file.
-# The path specified is relative to the HTML output folder.
-
-QCH_FILE               =
-
-# The QHP_NAMESPACE tag specifies the namespace to use when generating
-# Qt Help Project output. For more information please see
-# http://doc.trolltech.com/qthelpproject.html#namespace
-
-QHP_NAMESPACE          = org.doxygen.Project
-
-# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
-# Qt Help Project output. For more information please see
-# http://doc.trolltech.com/qthelpproject.html#virtual-folders
-
-QHP_VIRTUAL_FOLDER     = doc
-
-# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add.
-# For more information please see
-# http://doc.trolltech.com/qthelpproject.html#custom-filters
-
-QHP_CUST_FILTER_NAME   =
-
-# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see
-# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">Qt Help Project / Custom Filters</a>.
-
-QHP_CUST_FILTER_ATTRS  =
-
-# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's
-# filter section matches.
-# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">Qt Help Project / Filter Attributes</a>.
-
-QHP_SECT_FILTER_ATTRS  =
-
-# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
-# be used to specify the location of Qt's qhelpgenerator.
-# If non-empty doxygen will try to run qhelpgenerator on the generated
-# .qhp file.
-
-QHG_LOCATION           =
-
-# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
-#  will be generated, which together with the HTML files, form an Eclipse help
-#  plugin. To install this plugin and make it available under the help contents
-# menu in Eclipse, the contents of the directory containing the HTML and XML
-# files needs to be copied into the plugins directory of eclipse. The name of
-# the directory within the plugins directory should be the same as
-# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears.
-
-GENERATE_ECLIPSEHELP   = NO
-
-# A unique identifier for the eclipse help plugin. When installing the plugin
-# the directory name containing the HTML and XML files should also have
-# this name.
-
-ECLIPSE_DOC_ID         = org.doxygen.Project
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
-# top of each HTML page. The value NO (the default) enables the index and
-# the value YES disables it.
-
-DISABLE_INDEX          = NO
-
-# This tag can be used to set the number of enum values (range [1..20])
-# that doxygen will group on one line in the generated HTML documentation.
-
-ENUM_VALUES_PER_LINE   = 4
-
-# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
-# structure should be generated to display hierarchical information.
-# If the tag value is set to YES, a side panel will be generated
-# containing a tree-like index structure (just like the one that
-# is generated for HTML Help). For this to work a browser that supports
-# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
-# Windows users are probably better off using the HTML help feature.
-
-GENERATE_TREEVIEW      = YES
-
-# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
-# and Class Hierarchy pages using a tree view instead of an ordered list.
-
-USE_INLINE_TREES       = NO
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
-# used to set the initial width (in pixels) of the frame in which the tree
-# is shown.
-
-TREEVIEW_WIDTH         = 250
-
-# Use this tag to change the font size of Latex formulas included
-# as images in the HTML documentation. The default is 10. Note that
-# when you change the font size after a successful doxygen run you need
-# to manually remove any form_*.png images from the HTML output directory
-# to force them to be regenerated.
-
-FORMULA_FONTSIZE       = 10
-
-# When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript
-# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should
-# typically be disabled. For large projects the javascript based search engine
-# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
-
-SEARCHENGINE           = YES
-
-# When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index
-# file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup
-# and does not have live searching capabilities.
-
-SERVER_BASED_SEARCH    = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
-# generate Latex output.
-
-GENERATE_LATEX         = YES
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `latex' will be used as the default path.
-
-LATEX_OUTPUT           = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
-# invoked. If left blank `latex' will be used as the default command name.
-# Note that when enabling USE_PDFLATEX this option is only used for
-# generating bitmaps for formulas in the HTML output, but not in the
-# Makefile that is written to the output directory.
-
-LATEX_CMD_NAME         = latex
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
-# generate index for LaTeX. If left blank `makeindex' will be used as the
-# default command name.
-
-MAKEINDEX_CMD_NAME     = makeindex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
-# LaTeX documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_LATEX          = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used
-# by the printer. Possible values are: a4, a4wide, letter, legal and
-# executive. If left blank a4wide will be used.
-
-PAPER_TYPE             = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
-# packages that should be included in the LaTeX output.
-
-EXTRA_PACKAGES         =
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
-# the generated latex document. The header should contain everything until
-# the first chapter. If it is left blank doxygen will generate a
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER           =
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will
-# contain links (just like the HTML output) instead of page references
-# This makes the output suitable for online browsing using a pdf viewer.
-
-PDF_HYPERLINKS         = YES
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
-# plain latex in the generated Makefile. Set this option to YES to get a
-# higher quality PDF documentation.
-
-USE_PDFLATEX           = YES
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
-# command to the generated LaTeX files. This will instruct LaTeX to keep
-# running if errors occur, instead of asking the user for help.
-# This option is also used when generating formulas in HTML.
-
-LATEX_BATCHMODE        = NO
-
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not
-# include the index chapters (such as File Index, Compound Index, etc.)
-# in the output.
-
-LATEX_HIDE_INDICES     = NO
-
-# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER.
-
-LATEX_SOURCE_CODE      = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
-# The RTF output is optimized for Word 97 and may not look very pretty with
-# other RTF readers or editors.
-
-GENERATE_RTF           = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `rtf' will be used as the default path.
-
-RTF_OUTPUT             = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
-# RTF documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_RTF            = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
-# will contain hyperlink fields. The RTF file will
-# contain links (just like the HTML output) instead of page references.
-# This makes the output suitable for online browsing using WORD or other
-# programs which support those fields.
-# Note: wordpad (write) and others do not support links.
-
-RTF_HYPERLINKS         = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's
-# config file, i.e. a series of assignments. You only have to provide
-# replacements, missing definitions are set to their default value.
-
-RTF_STYLESHEET_FILE    =
-
-# Set optional variables used in the generation of an rtf document.
-# Syntax is similar to doxygen's config file.
-
-RTF_EXTENSIONS_FILE    =
-
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
-# generate man pages
-
-GENERATE_MAN           = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `man' will be used as the default path.
-
-MAN_OUTPUT             = man
-
-# The MAN_EXTENSION tag determines the extension that is added to
-# the generated man pages (default is the subroutine's section .3)
-
-MAN_EXTENSION          = .3
-
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
-# then it will generate one additional man file for each entity
-# documented in the real man page(s). These additional files
-# only source the real man page, but without them the man command
-# would be unable to find the correct page. The default is NO.
-
-MAN_LINKS              = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will
-# generate an XML file that captures the structure of
-# the code including all documentation.
-
-GENERATE_XML           = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `xml' will be used as the default path.
-
-XML_OUTPUT             = xml
-
-# The XML_SCHEMA tag can be used to specify an XML schema,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_SCHEMA             =
-
-# The XML_DTD tag can be used to specify an XML DTD,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_DTD                =
-
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
-# dump the program listings (including syntax highlighting
-# and cross-referencing information) to the XML output. Note that
-# enabling this will significantly increase the size of the XML output.
-
-XML_PROGRAMLISTING     = YES
-
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
-# generate an AutoGen Definitions (see autogen.sf.net) file
-# that captures the structure of the code including all
-# documentation. Note that this feature is still experimental
-# and incomplete at the moment.
-
-GENERATE_AUTOGEN_DEF   = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will
-# generate a Perl module file that captures the structure of
-# the code including all documentation. Note that this
-# feature is still experimental and incomplete at the
-# moment.
-
-GENERATE_PERLMOD       = NO
-
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able
-# to generate PDF and DVI output from the Perl module output.
-
-PERLMOD_LATEX          = NO
-
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
-# nicely formatted so it can be parsed by a human reader.
-# This is useful
-# if you want to understand what is going on.
-# On the other hand, if this
-# tag is set to NO the size of the Perl module output will be much smaller
-# and Perl will parse it just the same.
-
-PERLMOD_PRETTY         = YES
-
-# The names of the make variables in the generated doxyrules.make file
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
-# This is useful so different doxyrules.make files included by the same
-# Makefile don't overwrite each other's variables.
-
-PERLMOD_MAKEVAR_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
-# evaluate all C-preprocessor directives found in the sources and include
-# files.
-
-ENABLE_PREPROCESSING   = NO
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
-# names in the source code. If set to NO (the default) only conditional
-# compilation will be performed. Macro expansion can be done in a controlled
-# way by setting EXPAND_ONLY_PREDEF to YES.
-
-MACRO_EXPANSION        = NO
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
-# then the macro expansion is limited to the macros specified with the
-# PREDEFINED and EXPAND_AS_DEFINED tags.
-
-EXPAND_ONLY_PREDEF     = NO
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
-# in the INCLUDE_PATH (see below) will be search if a #include is found.
-
-SEARCH_INCLUDES        = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that
-# contain include files that are not input files but should be processed by
-# the preprocessor.
-
-INCLUDE_PATH           =
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
-# patterns (like *.h and *.hpp) to filter out the header-files in the
-# directories. If left blank, the patterns specified with FILE_PATTERNS will
-# be used.
-
-INCLUDE_FILE_PATTERNS  =
-
-# The PREDEFINED tag can be used to specify one or more macro names that
-# are defined before the preprocessor is started (similar to the -D option of
-# gcc). The argument of the tag is a list of macros of the form: name
-# or name=definition (no spaces). If the definition and the = are
-# omitted =1 is assumed. To prevent a macro definition from being
-# undefined via #undef or recursively expanded use the := operator
-# instead of the = operator.
-
-PREDEFINED             =
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
-# this tag can be used to specify a list of macro names that should be expanded.
-# The macro definition that is found in the sources will be used.
-# Use the PREDEFINED tag if you want to use a different macro definition.
-
-EXPAND_AS_DEFINED      =
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
-# doxygen's preprocessor will remove all function-like macros that are alone
-# on a line, have an all uppercase name, and do not end with a semicolon. Such
-# function macros are typically used for boiler-plate code, and will confuse
-# the parser if not removed.
-
-SKIP_FUNCTION_MACROS   = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-
-# The TAGFILES option can be used to specify one or more tagfiles.
-# Optionally an initial location of the external documentation
-# can be added for each tagfile. The format of a tag file without
-# this location is as follows:
-#
-# TAGFILES = file1 file2 ...
-# Adding location for the tag files is done as follows:
-#
-# TAGFILES = file1=loc1 "file2 = loc2" ...
-# where "loc1" and "loc2" can be relative or absolute paths or
-# URLs. If a location is present for each tag, the installdox tool
-# does not have to be run to correct the links.
-# Note that each tag file must have a unique name
-# (where the name does NOT include the path)
-# If a tag file is not located in the directory in which doxygen
-# is run, you must also specify the path to the tagfile here.
-
-TAGFILES               =
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create
-# a tag file that is based on the input files it reads.
-
-GENERATE_TAGFILE       =
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed
-# in the class index. If set to NO only the inherited external classes
-# will be listed.
-
-ALLEXTERNALS           = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
-# in the modules index. If set to NO, only the current project's groups will
-# be listed.
-
-EXTERNAL_GROUPS        = YES
-
-# The PERL_PATH should be the absolute path and name of the perl script
-# interpreter (i.e. the result of `which perl').
-
-PERL_PATH              = /usr/bin/perl
-
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
-# or super classes. Setting the tag to NO turns the diagrams off. Note that
-# this option is superseded by the HAVE_DOT option below. This is only a
-# fallback. It is recommended to install and use dot, since it yields more
-# powerful graphs.
-
-CLASS_DIAGRAMS         = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. Doxygen will then run the mscgen tool (see
-# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where
-# the mscgen tool resides. If left empty the tool is assumed to be found in the
-# default search path.
-
-MSCGEN_PATH            =
-
-# If set to YES, the inheritance and collaboration graphs will hide
-# inheritance and usage relations if the target is undocumented
-# or is not a class.
-
-HIDE_UNDOC_RELATIONS   = YES
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
-# available from the path. This tool is part of Graphviz, a graph visualization
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section
-# have no effect if this option is set to NO (the default)
-
-HAVE_DOT               = NO
-
-# By default doxygen will write a font called FreeSans.ttf to the output
-# directory and reference it in all dot files that doxygen generates. This
-# font does not include all possible unicode characters however, so when you need
-# these (or just want a differently looking font) you can specify the font name
-# using DOT_FONTNAME. You need need to make sure dot is able to find the font,
-# which can be done by putting it in a standard location or by setting the
-# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory
-# containing the font.
-
-DOT_FONTNAME           = FreeSans
-
-# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
-# The default size is 10pt.
-
-DOT_FONTSIZE           = 10
-
-# By default doxygen will tell dot to use the output directory to look for the
-# FreeSans.ttf font (which doxygen will put there itself). If you specify a
-# different font using DOT_FONTNAME you can set the path where dot
-# can find it using this tag.
-
-DOT_FONTPATH           =
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect inheritance relations. Setting this tag to YES will force the
-# the CLASS_DIAGRAMS tag to NO.
-
-CLASS_GRAPH            = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect implementation dependencies (inheritance, containment, and
-# class references variables) of the class with other documented classes.
-
-COLLABORATION_GRAPH    = YES
-
-# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for groups, showing the direct groups dependencies
-
-GROUP_GRAPHS           = YES
-
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
-# collaboration diagrams in a style similar to the OMG's Unified Modeling
-# Language.
-
-UML_LOOK               = NO
-
-# If set to YES, the inheritance and collaboration graphs will show the
-# relations between templates and their instances.
-
-TEMPLATE_RELATIONS     = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
-# tags are set to YES then doxygen will generate a graph for each documented
-# file showing the direct and indirect include dependencies of the file with
-# other documented files.
-
-INCLUDE_GRAPH          = YES
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
-# documented header file showing the documented files that directly or
-# indirectly include this file.
-
-INCLUDED_BY_GRAPH      = YES
-
-# If the CALL_GRAPH and HAVE_DOT options are set to YES then
-# doxygen will generate a call dependency graph for every global function
-# or class method. Note that enabling this option will significantly increase
-# the time of a run. So in most cases it will be better to enable call graphs
-# for selected functions only using the \callgraph command.
-
-CALL_GRAPH             = NO
-
-# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
-# doxygen will generate a caller dependency graph for every global function
-# or class method. Note that enabling this option will significantly increase
-# the time of a run. So in most cases it will be better to enable caller
-# graphs for selected functions only using the \callergraph command.
-
-CALLER_GRAPH           = NO
-
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
-# will graphical hierarchy of all classes instead of a textual one.
-
-GRAPHICAL_HIERARCHY    = YES
-
-# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
-# then doxygen will show the dependencies a directory has on other directories
-# in a graphical way. The dependency relations are determined by the #include
-# relations between the files in the directories.
-
-DIRECTORY_GRAPH        = YES
-
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot. Possible values are png, jpg, or gif
-# If left blank png will be used.
-
-DOT_IMAGE_FORMAT       = png
-
-# The tag DOT_PATH can be used to specify the path where the dot tool can be
-# found. If left blank, it is assumed the dot tool can be found in the path.
-
-DOT_PATH               =
-
-# The DOTFILE_DIRS tag can be used to specify one or more directories that
-# contain dot files that are included in the documentation (see the
-# \dotfile command).
-
-DOTFILE_DIRS           =
-
-# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
-# nodes that will be shown in the graph. If the number of nodes in a graph
-# becomes larger than this value, doxygen will truncate the graph, which is
-# visualized by representing a node as a red box. Note that doxygen if the
-# number of direct children of the root node in a graph is already larger than
-# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
-# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
-
-DOT_GRAPH_MAX_NODES    = 50
-
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
-# graphs generated by dot. A depth value of 3 means that only nodes reachable
-# from the root by following a path via at most 3 edges will be shown. Nodes
-# that lay further from the root node will be omitted. Note that setting this
-# option to 1 or 2 may greatly reduce the computation time needed for large
-# code bases. Also note that the size of a graph can be further restricted by
-# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
-
-MAX_DOT_GRAPH_DEPTH    = 0
-
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
-# background. This is disabled by default, because dot on Windows does not
-# seem to support this out of the box. Warning: Depending on the platform used,
-# enabling this option may lead to badly anti-aliased labels on the edges of
-# a graph (i.e. they become hard to read).
-
-DOT_TRANSPARENT        = NO
-
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
-# files in one run (i.e. multiple -o and -T options on the command line). This
-# makes dot run faster, but since only newer versions of dot (>1.8.10)
-# support this, this feature is disabled by default.
-
-DOT_MULTI_TARGETS      = NO
-
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
-# generate a legend page explaining the meaning of the various boxes and
-# arrows in the dot generated graphs.
-
-GENERATE_LEGEND        = YES
-
-# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
-# remove the intermediate dot files that are used to generate
-# the various graphs.
-
-DOT_CLEANUP            = YES
+# Doxyfile 1.6.2
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+#       TAG = value [value, ...]
+# For lists items can also be appended using:
+#       TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME           = OpenPilot
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER         =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = build/docs/
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS         = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
+# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
+# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak,
+# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF       =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES        = YES
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like regular Qt-style comments
+# (thus requiring an explicit @brief command for a brief description.)
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
+# interpret the first line (until the first dot) of a Qt-style
+# comment as the brief description. If set to NO, the comments
+# will behave just like regular Qt-style comments (thus requiring
+# an explicit \brief command for a brief description.)
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE               = 8
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C  = YES
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
+# sources only. Doxygen will then generate output that is more tailored for
+# Java. For instance, namespaces will be presented as packages, qualified
+# scopes will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources only. Doxygen will then generate output that is more tailored for
+# Fortran.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for
+# VHDL.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it parses.
+# With this tag you can assign which parser to use for a given extension.
+# Doxygen has a built-in mapping, but you can override or extend it using this tag.
+# The format is ext=language, where ext is a file extension, and language is one of
+# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP,
+# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat
+# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
+
+EXTENSION_MAPPING      =
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should
+# set this tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
+# func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
+# Doxygen will parse them like normal C++ but will assume all classes use public
+# instead of private inheritance when no explicit protection keyword is present.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate getter
+# and setter methods for a property. Setting this option to YES (the default)
+# will make doxygen to replace the get and set methods by a property in the
+# documentation. This will only work if the methods are indeed getting or
+# setting a simple type. If this is not the case, or you want to show the
+# methods anyway, you should set this option to NO.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING            = YES
+
+# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
+# is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically
+# be useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
+# determine which symbols to keep in memory and which to flush to disk.
+# When the cache is full, less often used symbols will be written to disk.
+# For small to medium size projects (<1000 input files) the default value is
+# probably good enough. For larger projects a too small cache size can cause
+# doxygen to be busy swapping symbols to and from disk most of the time
+# causing a significant performance penality.
+# If the system has enough physical memory increasing the cache will improve the
+# performance by keeping more symbols in memory. Note that the value works on
+# a logarithmic scale so increasing the size by one will rougly double the
+# memory usage. The cache size is given by this formula:
+# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols
+
+SYMBOL_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespace are hidden.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES       = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
+# will list include files with double quotes in the documentation
+# rather than with sharp brackets.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES        = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES       = NO
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
+# This will remove the Files entry from the Quick Index and from the
+# Folder Tree View (if specified). The default is YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
+# Namespaces page.
+# This will remove the Namespaces entry from the Quick Index
+# and from the Folder Tree View (if specified). The default is YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by
+# doxygen. The layout file controls the global structure of the generated output files
+# in an output format independent way. The create the layout file that represents
+# doxygen's defaults, run doxygen with the -l option. You can optionally specify a
+# file name after the option, if omitted DoxygenLayout.xml will be used as the name
+# of the layout file.
+
+LAYOUT_FILE            =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS               = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be abled to get warnings for
+# functions that are documented, but have no documentation for their parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC       = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT                  =  flight ground
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
+# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
+
+FILE_PATTERNS          =
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE                = .svn
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
+# directories that are symbolic links (a Unix filesystem feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS       =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+# If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis.
+# Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match.
+# The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
+# is applied to all files.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
+# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
+# link to the source code.
+# Otherwise they will link to the documentation.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS       = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX     = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET        =
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting
+# this to NO can help when comparing the output of multiple runs.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information.
+
+GENERATE_DOCSET        = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP      = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE               =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION           =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI           = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
+# is used to encode HtmlHelp index (hhk), content (hhc) and project file
+# content.
+
+CHM_INDEX_ENCODING     =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER
+# are set, an additional index file will be generated that can be used as input for
+# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated
+# HTML documentation.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
+# be used to specify the file name of the resulting .qch file.
+# The path specified is relative to the HTML output folder.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#namespace
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add.
+# For more information please see
+# http://doc.trolltech.com/qthelpproject.html#custom-filters
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see
+# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">Qt Help Project / Custom Filters</a>.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's
+# filter section matches.
+# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">Qt Help Project / Filter Attributes</a>.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
+# be used to specify the location of Qt's qhelpgenerator.
+# If non-empty doxygen will try to run qhelpgenerator on the generated
+# .qhp file.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
+#  will be generated, which together with the HTML files, form an Eclipse help
+#  plugin. To install this plugin and make it available under the help contents
+# menu in Eclipse, the contents of the directory containing the HTML and XML
+# files needs to be copied into the plugins directory of eclipse. The name of
+# the directory within the plugins directory should be the same as
+# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have
+# this name.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX          = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information.
+# If the tag value is set to YES, a side panel will be generated
+# containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
+# Windows users are probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW      = YES
+
+# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
+# and Class Hierarchy pages using a tree view instead of an ordered list.
+
+USE_INLINE_TREES       = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH         = 250
+
+# Use this tag to change the font size of Latex formulas included
+# as images in the HTML documentation. The default is 10. Note that
+# when you change the font size after a successful doxygen run you need
+# to manually remove any form_*.png images from the HTML output directory
+# to force them to be regenerated.
+
+FORMULA_FONTSIZE       = 10
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript
+# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should
+# typically be disabled. For large projects the javascript based search engine
+# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index
+# file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup
+# and does not have live searching capabilities.
+
+SERVER_BASED_SEARCH    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX         = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+# Note that when enabling USE_PDFLATEX this option is only used for
+# generating bitmaps for formulas in the HTML output, but not in the
+# Makefile that is written to the output directory.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE             = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER           =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE        = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES     = NO
+
+# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER.
+
+LATEX_SOURCE_CODE      = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION          = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT             = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA             =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD                =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader.
+# This is useful
+# if you want to understand what is going on.
+# On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING   = NO
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse
+# the parser if not removed.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+#
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+#
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS        = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option is superseded by the HAVE_DOT option below. This is only a
+# fallback. It is recommended to install and use dot, since it yields more
+# powerful graphs.
+
+CLASS_DIAGRAMS         = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH            =
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT               = NO
+
+# By default doxygen will write a font called FreeSans.ttf to the output
+# directory and reference it in all dot files that doxygen generates. This
+# font does not include all possible unicode characters however, so when you need
+# these (or just want a differently looking font) you can specify the font name
+# using DOT_FONTNAME. You need need to make sure dot is able to find the font,
+# which can be done by putting it in a standard location or by setting the
+# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory
+# containing the font.
+
+DOT_FONTNAME           = FreeSans
+
+# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
+# The default size is 10pt.
+
+DOT_FONTSIZE           = 10
+
+# By default doxygen will tell dot to use the output directory to look for the
+# FreeSans.ttf font (which doxygen will put there itself). If you specify a
+# different font using DOT_FONTNAME you can set the path where dot
+# can find it using this tag.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK               = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH          = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH and HAVE_DOT options are set to YES then
+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable call graphs
+# for selected functions only using the \callgraph command.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable caller
+# graphs for selected functions only using the \callergraph command.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH        = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT       = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS           =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
+# nodes that will be shown in the graph. If the number of nodes in a graph
+# becomes larger than this value, doxygen will truncate the graph, which is
+# visualized by representing a node as a red box. Note that doxygen if the
+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
+# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not
+# seem to support this out of the box. Warning: Depending on the platform used,
+# enabling this option may lead to badly anti-aliased labels on the edges of
+# a graph (i.e. they become hard to read).
+
+DOT_TRANSPARENT        = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS      = NO
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP            = YES
diff --git a/make/tools.mk b/make/tools.mk
index ecf655002..bbf679045 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -120,6 +120,7 @@ JAR		:= jar
 GIT		:= git
 CURL		:= curl
 OPENSSL		:= openssl
+DOXYGEN		:= doxygen
 
 # Echo in recipes is a bit tricky in a Windows Git Bash window in some cases.
 # It does not work if make started under msysGit installed into a path with spaces.

From 0414231408f18223ff7e9319b0f7c5465f75ad39 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 22:49:17 +0300
Subject: [PATCH 116/125] Move uncrustify config from flight to
 make/uncrustify/

---
 Makefile                                      | 2 +-
 make/.gitattributes                           | 2 +-
 make/{templates => uncrustify}/uncrustify.cfg | 0
 3 files changed, 2 insertions(+), 2 deletions(-)
 rename make/{templates => uncrustify}/uncrustify.cfg (100%)

diff --git a/Makefile b/Makefile
index 4caed794e..fc0dd8f28 100644
--- a/Makefile
+++ b/Makefile
@@ -791,7 +791,7 @@ define UNCRUSTIFY_TEMPLATE
 .PHONY: uncrustify_$(1)
 uncrustify_$(1):
 	@$(ECHO) "Auto-formatting $(1) source code"
-	$(V1) UNCRUSTIFY_CONFIG="make/templates/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
+	$(V1) UNCRUSTIFY_CONFIG="$(ROOT_DIR)/make/uncrustify/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
 endef
 
 $(eval $(call UNCRUSTIFY_TEMPLATE,flight,$(ROOT_DIR)/flight))
diff --git a/make/.gitattributes b/make/.gitattributes
index a2d27fb20..59b05a332 100644
--- a/make/.gitattributes
+++ b/make/.gitattributes
@@ -10,4 +10,4 @@
 /templates/firmwareinfotemplate.c 	text eol=lf
 /templates/gcs_version_info_template.h	text eol=crlf
 /templates/*.txt			text eol=crlf
-/templates/uncrustify.cfg		text eol=lf
+/uncrustify/*.cfg			text eol=lf
diff --git a/make/templates/uncrustify.cfg b/make/uncrustify/uncrustify.cfg
similarity index 100%
rename from make/templates/uncrustify.cfg
rename to make/uncrustify/uncrustify.cfg

From b3de04d09f5c65d36fec799db1f68a782cbefff9 Mon Sep 17 00:00:00 2001
From: Philippe Vanhaesendonck <op@e.bulles.eu>
Date: Wed, 24 Apr 2013 22:39:39 +0200
Subject: [PATCH 117/125] Handle Mach-o object format for UAVOs Jira OP-921

---
 flight/targets/UAVObjects/uavobjectmanager.c  | 25 ++++++++++++++++++-
 flight/targets/UAVObjects/uavobjecttemplate.c |  4 +++
 make/templates/firmwareinfotemplate.c         |  4 +++
 3 files changed, 32 insertions(+), 1 deletion(-)

diff --git a/flight/targets/UAVObjects/uavobjectmanager.c b/flight/targets/UAVObjects/uavobjectmanager.c
index 1f07e0c9c..13ba7b1ff 100644
--- a/flight/targets/UAVObjects/uavobjectmanager.c
+++ b/flight/targets/UAVObjects/uavobjectmanager.c
@@ -34,6 +34,10 @@
 #include "openpilot.h"
 #include "pios_struct_helper.h"
 
+#if (defined(__MACH__) && defined(__APPLE__))
+#include <mach-o/getsect.h>
+#endif
+
 // Constants
 
 // Private types
@@ -41,9 +45,21 @@
 // Macros
 #define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
 
-/* Table of UAVO handles registered at compile time */
+// Mach-o: dummy segment to calculate ASLR offset in sim_osx
+#if (defined(__MACH__) && defined(__APPLE__))
+static long _aslr_offset __attribute__((section("__DATA,_aslr")));
+#endif
+
+/* Table of UAVO handles */
+#if (defined(__MACH__) && defined(__APPLE__))
+/* Mach-o format */
+static struct UAVOData ** __start__uavo_handles;
+static struct UAVOData ** __stop__uavo_handles;
+#else
+/* ELF format: automagically defined at compile time */
 extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
 extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
+#endif
 
 #define UAVO_LIST_ITERATE(_item) \
 for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
@@ -199,6 +215,13 @@ int32_t UAVObjInitialize()
 	// Initialize variables
 	memset(&stats, 0, sizeof(UAVObjStats));
 
+	/* Initialize _uavo_handles start/stop pointers */
+	#if (defined(__MACH__) && defined(__APPLE__))
+	uint64_t aslr_offset = (uint64_t) & _aslr_offset - getsectbyname("__DATA","_aslr")->addr;
+	__start__uavo_handles = (struct UAVOData **) (getsectbyname("__DATA","_uavo_handles")->addr + aslr_offset);
+	__stop__uavo_handles = (struct UAVOData **) ((uint64_t)__start__uavo_handles + getsectbyname("__DATA","_uavo_handles")->size);
+	#endif
+
 	// Initialize the uavo handle table
 	memset(__start__uavo_handles, 0,
 		(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
diff --git a/flight/targets/UAVObjects/uavobjecttemplate.c b/flight/targets/UAVObjects/uavobjecttemplate.c
index 808faf496..9af13641b 100644
--- a/flight/targets/UAVObjects/uavobjecttemplate.c
+++ b/flight/targets/UAVObjects/uavobjecttemplate.c
@@ -40,7 +40,11 @@
 #include "$(NAMELC).h"
 
 // Private variables
+#if (defined(__MACH__) && defined(__APPLE__))
+static UAVObjHandle handle __attribute__((section("__DATA,_uavo_handles")));
+#else
 static UAVObjHandle handle __attribute__((section("_uavo_handles")));
+#endif
 
 /**
  * Initialize object.
diff --git a/make/templates/firmwareinfotemplate.c b/make/templates/firmwareinfotemplate.c
index 6e4fbf8b3..e686ac2b4 100644
--- a/make/templates/firmwareinfotemplate.c
+++ b/make/templates/firmwareinfotemplate.c
@@ -55,7 +55,11 @@ struct __attribute__((packed)) fw_version_info {
 	uint8_t pad[20];
 };
 
+#if (defined(__MACH__) && defined(__APPLE__))
+const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__("__TEXT,.fw_version_blob"))) = {
+#else
 const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
+#endif
 	.magic = { 'O','p','F','w' },
 	.commit_hash_prefix = 0x${HASH8},
 	.timestamp = ${UNIXTIME},

From 189578629cb9f512e72a2efe4a9dd351ddc9a608 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 23:12:50 +0300
Subject: [PATCH 118/125] Update README.txt with project sites list

---
 README.txt | 45 ++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 44 insertions(+), 1 deletion(-)

diff --git a/README.txt b/README.txt
index f5df8bc54..11f953f4c 100644
--- a/README.txt
+++ b/README.txt
@@ -1 +1,44 @@
-Check the wiki: http://wiki.openpilot.org/display/Doc/OpenPilot+Developer+Manual
+What is OpenPilot all about?
+----------------------------
+
+The project aims at implementing the best features of all existing similar systems developed by
+enthusiasts and combines them into a single, easy-to-use software/hardware package. The ease-of-use
+in this case does not imply functional simplicity or compromises. There are no rigidly defined
+constraints and settings, but a full-fledged programming language configuration loaded via a
+Ground Control Station and other advanced features. OpenPilot is developed as a powerful platform
+for all types of vehicles.
+
+This is a non-profit project of the OpenPilot Foundation
+--------------------------------------------------------
+
+This is a project using only volunteer personnel who have donated enormous amounts of time, money
+and effort. Please respect the people that are part of the project and their generosity. OpenPilot
+is funded entirely at the expense of those who spend their time and money in the development of the
+public project which helps it grow. Giving complete and correct references to all their work is not
+only a legal requirement of the CC-BY-SA license, but also simple respect for their work. The people
+who create this project, really deserve it for their very hard work.
+
+The OpenPilot project web sites
+-------------------------------
+
+The project provides feature-rich development and collaboration environment using advanced tools such
+as GCC compilers, git, Atlassian JIRA, Confluence, FishEye, Crucible, Bamboo, Crowd, forums and blogs.
+
+Main project web site:	http://www.openpilot.org/
+Project forums:		http://forums.openpilot.org/
+Wiki, docs and manuals:	http://wiki.openpilot.org/
+Bug and issue tracker:	http://progress.openpilot.org/
+Source code repository:	http://git.openpilot.org/
+Crucible code reviews:	http://reviews.openpilot.org/cru
+Project build server:	http://bamboo.openpilot.org/
+Community blogs:	http://forums.openpilot.org/blogs/
+Software downloads:	http://wiki.openpilot.org/display/BUILDS/OpenPilot+Software+Downloads
+
+How to build from source?
+-------------------------
+
+make all_sdk_install
+make all
+
+The project supports Windows, Linux and Mac OS X platforms as well as Android.
+Check the wiki for more details: http://wiki.openpilot.org/display/Doc/OpenPilot+Developer+Manual

From f97cb211e3b3ead7bc52902cff4ba09f2beea070 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 24 Apr 2013 23:14:50 +0300
Subject: [PATCH 119/125] Remove UTF-8 BOM from HISTORY.txt

---
 HISTORY.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/HISTORY.txt b/HISTORY.txt
index abeb39b4c..69c7b410e 100644
--- a/HISTORY.txt
+++ b/HISTORY.txt
@@ -1,4 +1,4 @@
-Short summary of changes.  For a complete list see the git log.
+Short summary of changes.  For a complete list see the git log.
 
 2012-11-17
 Advanced camera stabilization features.

From 66db97824440bdffd5593162dd8a0e1df0ab1f95 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 00:24:38 +0300
Subject: [PATCH 120/125] Rename Libraries->libraries, Modules->modules

---
 Makefile                                          |   4 ++--
 .../osx/libraries}/.no-auto-format                |   0
 .../FreeRTOS/Source/croutine.c                    |   0
 .../FreeRTOS/Source/include/FreeRTOS.h            |   0
 .../FreeRTOS/Source/include/StackMacros.h         |   0
 .../FreeRTOS/Source/include/croutine.h            |   0
 .../FreeRTOS/Source/include/list.h                |   0
 .../FreeRTOS/Source/include/mpu_wrappers.h        |   0
 .../FreeRTOS/Source/include/portable.h            |   0
 .../FreeRTOS/Source/include/projdefs.h            |   0
 .../FreeRTOS/Source/include/queue.h               |   0
 .../FreeRTOS/Source/include/semphr.h              |   0
 .../FreeRTOS/Source/include/task.h                |   0
 .../FreeRTOS/Source/include/timers.h              |   0
 .../FreeRTOS/Source/list.c                        |   0
 .../FreeRTOS/Source/portable/GCC/Posix/port.c     |   0
 .../portable/GCC/Posix/port.c.documentation.txt   |   0
 .../Source/portable/GCC/Posix/portmacro.h         |   0
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 .../src/stm32f4xx_can.c                           |   0
 .../src/stm32f4xx_crc.c                           |   0
 .../src/stm32f4xx_cryp.c                          |   0
 .../src/stm32f4xx_cryp_aes.c                      |   0
 .../src/stm32f4xx_cryp_des.c                      |   0
 .../src/stm32f4xx_cryp_tdes.c                     |   0
 .../src/stm32f4xx_dac.c                           |   0
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 .../src/stm32f4xx_dcmi.c                          |   0
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 .../src/stm32f4xx_flash.c                         |   0
 .../src/stm32f4xx_fsmc.c                          |   0
 .../src/stm32f4xx_gpio.c                          |   0
 .../src/stm32f4xx_hash.c                          |   0
 .../src/stm32f4xx_hash_md5.c                      |   0
 .../src/stm32f4xx_hash_sha1.c                     |   0
 .../src/stm32f4xx_i2c.c                           |   0
 .../src/stm32f4xx_iwdg.c                          |   0
 .../src/stm32f4xx_pwr.c                           |   0
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 .../src/stm32f4xx_rng.c                           |   0
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 .../src/stm32f4xx_sdio.c                          |   0
 .../src/stm32f4xx_spi.c                           |   0
 .../src/stm32f4xx_syscfg.c                        |   0
 .../src/stm32f4xx_tim.c                           |   0
 .../src/stm32f4xx_usart.c                         |   0
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 .../Core/inc/usbd_ioreq.h                         |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_req.h  |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_usr.h  |   0
 .../STM32_USB_Device_Library/Core/src/usbd_core.c |   0
 .../Core/src/usbd_ioreq.c                         |   0
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 .../STM32_USB_OTG_Driver/inc/usb_bsp.h            |   0
 .../STM32_USB_OTG_Driver/inc/usb_conf.h           |   0
 .../STM32_USB_OTG_Driver/inc/usb_core.h           |   0
 .../STM32_USB_OTG_Driver/inc/usb_dcd.h            |   0
 .../STM32_USB_OTG_Driver/inc/usb_dcd_int.h        |   0
 .../STM32_USB_OTG_Driver/inc/usb_defines.h        |   0
 .../STM32_USB_OTG_Driver/inc/usb_hcd.h            |   0
 .../STM32_USB_OTG_Driver/inc/usb_hcd_int.h        |   0
 .../STM32_USB_OTG_Driver/inc/usb_otg.h            |   0
 .../STM32_USB_OTG_Driver/inc/usb_regs.h           |   0
 .../STM32_USB_OTG_Driver/src/usb_bsp_template.c   |   0
 .../STM32_USB_OTG_Driver/src/usb_core.c           |   0
 .../STM32_USB_OTG_Driver/src/usb_dcd.c            |   0
 .../STM32_USB_OTG_Driver/src/usb_dcd_int.c        |   0
 .../STM32_USB_OTG_Driver/src/usb_hcd.c            |   0
 .../STM32_USB_OTG_Driver/src/usb_hcd_int.c        |   0
 .../STM32_USB_OTG_Driver/src/usb_otg.c            |   0
 flight/PiOS/STM32F4xx/library.mk                  |  14 +++++++-------
 .../Libraries => posix/libraries}/.no-auto-format |   0
 .../FreeRTOS/Source/portable/GCC/Posix/port.c     |   0
 .../portable/GCC/Posix/port.c.documentation.txt   |   0
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 .../{Libraries => libraries}/FreeRTOS/library.mk  |   0
 flight/PiOS/posix/library.mk                      |  10 +++++-----
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 .../PyMite/platform/openpilot_sitl/plat.c         |   0
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 .../PyMite/platform/windows/README                |   0
 .../PyMite/platform/windows/SConscript            |   0
 .../PyMite/platform/windows/main.c                |   0
 .../PyMite/platform/windows/main.py               |   0
 .../PyMite/platform/windows/plat.c                |   0
 .../PyMite/platform/windows/plat.h                |   0
 .../PyMite/platform/windows/pmfeatures.h          |   0
 .../PyMite/platform/windows/pmfeatures.py         |   0
 .../PyMite/platform/windows/py2c.bat              |   0
 .../PyMite/platform/windows/pymiteVS2008.sln      |   0
 .../PyMite/platform/windows/pymiteVS2008.vcproj   |   0
 .../PyMite/platform/windows/pymiteVS2010.sln      |   0
 .../PyMite/platform/windows/pymiteVS2010.vcxproj  |   0
 .../platform/windows/pymiteVS2010.vcxproj.filters |   0
 .../PyMite/platform/windows/stdint.h              |   0
 flight/{Libraries => libraries}/PyMite/pymite.mk  |   0
 .../{Libraries => libraries}/PyMite/tools/COPYING |   0
 .../PyMite/tools/bcode.py                         |   0
 .../PyMite/tools/dismantle.py                     |   0
 .../{Libraries => libraries}/PyMite/tools/ipm.py  |   0
 .../PyMite/tools/pmDist.py                        |   0
 .../PyMite/tools/pmGenPmFeatures.py               |   0
 .../PyMite/tools/pmHeapDump.py                    |   0
 .../PyMite/tools/pmImgCreator.py                  |   0
 .../PyMite/tools/pmOdDecoder.py                   |   0
 .../PyMite/tools/pmReplaceCopyright.py            |   0
 .../PyMite/tools/pycscope.py                      |   0
 flight/{Libraries => libraries}/PyMite/vm/COPYING |   0
 .../{Libraries => libraries}/PyMite/vm/SConscript |   0
 .../PyMite/vm/bytearray.c                         |   0
 .../PyMite/vm/bytearray.h                         |   0
 flight/{Libraries => libraries}/PyMite/vm/class.c |   0
 flight/{Libraries => libraries}/PyMite/vm/class.h |   0
 .../{Libraries => libraries}/PyMite/vm/codeobj.c  |   0
 .../{Libraries => libraries}/PyMite/vm/codeobj.h  |   0
 flight/{Libraries => libraries}/PyMite/vm/dict.c  |   0
 flight/{Libraries => libraries}/PyMite/vm/dict.h  |   0
 .../{Libraries => libraries}/PyMite/vm/fileid.txt |   0
 flight/{Libraries => libraries}/PyMite/vm/float.c |   0
 flight/{Libraries => libraries}/PyMite/vm/float.h |   0
 flight/{Libraries => libraries}/PyMite/vm/frame.c |   0
 flight/{Libraries => libraries}/PyMite/vm/frame.h |   0
 flight/{Libraries => libraries}/PyMite/vm/func.c  |   0
 flight/{Libraries => libraries}/PyMite/vm/func.h  |   0
 .../{Libraries => libraries}/PyMite/vm/global.c   |   0
 .../{Libraries => libraries}/PyMite/vm/global.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/heap.c  |   0
 flight/{Libraries => libraries}/PyMite/vm/heap.h  |   0
 flight/{Libraries => libraries}/PyMite/vm/img.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/img.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/int.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/int.h   |   0
 .../{Libraries => libraries}/PyMite/vm/interp.c   |   0
 .../{Libraries => libraries}/PyMite/vm/interp.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/lst.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/lst.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/mem.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/mem.h   |   0
 .../{Libraries => libraries}/PyMite/vm/module.c   |   0
 .../{Libraries => libraries}/PyMite/vm/module.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/obj.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/obj.h   |   0
 .../PyMite/vm/plat_interface.h                    |   0
 flight/{Libraries => libraries}/PyMite/vm/pm.c    |   0
 flight/{Libraries => libraries}/PyMite/vm/pm.h    |   0
 .../PyMite/vm/pmEmptyPlatformDefs.h               |   0
 .../PyMite/vm/pmFeatureDependencies.h             |   0
 .../{Libraries => libraries}/PyMite/vm/seglist.c  |   0
 .../{Libraries => libraries}/PyMite/vm/seglist.h  |   0
 flight/{Libraries => libraries}/PyMite/vm/seq.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/seq.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/sli.c   |   0
 flight/{Libraries => libraries}/PyMite/vm/sli.h   |   0
 .../{Libraries => libraries}/PyMite/vm/strobj.c   |   0
 .../{Libraries => libraries}/PyMite/vm/strobj.h   |   0
 .../{Libraries => libraries}/PyMite/vm/thread.c   |   0
 .../{Libraries => libraries}/PyMite/vm/thread.h   |   0
 flight/{Libraries => libraries}/PyMite/vm/tuple.c |   0
 flight/{Libraries => libraries}/PyMite/vm/tuple.h |   0
 flight/{Libraries => libraries}/WorldMagModel.c   |   0
 flight/{Libraries => libraries}/aes.c             |   0
 flight/{Libraries => libraries}/alarms.c          |   0
 flight/{Libraries => libraries}/fifo_buffer.c     |   0
 .../inc/CoordinateConversions.h                   |   0
 flight/{Libraries => libraries}/inc/WMMInternal.h |   0
 .../{Libraries => libraries}/inc/WorldMagModel.h  |   0
 flight/{Libraries => libraries}/inc/aes.h         |   0
 flight/{Libraries => libraries}/inc/alarms.h      |   0
 flight/{Libraries => libraries}/inc/fifo_buffer.h |   0
 flight/{Libraries => libraries}/inc/insgps.h      |   0
 flight/{Libraries => libraries}/inc/op_dfu.h      |   0
 .../{Libraries => libraries}/inc/packet_handler.h |   0
 flight/{Libraries => libraries}/inc/paths.h       |   0
 flight/{Libraries => libraries}/inc/sanitycheck.h |   0
 flight/{Libraries => libraries}/inc/stopwatch.h   |   0
 flight/{Libraries => libraries}/inc/taskmonitor.h |   0
 flight/{Libraries => libraries}/insgps13state.c   |   0
 flight/{Libraries => libraries}/insgps16state.c   |   0
 flight/{Libraries => libraries}/insgps_helper.c   |   0
 flight/{Libraries => libraries}/math/pid.c        |   0
 flight/{Libraries => libraries}/math/pid.h        |   0
 flight/{Libraries => libraries}/math/sin_lookup.c |   0
 flight/{Libraries => libraries}/math/sin_lookup.h |   0
 flight/{Libraries => libraries}/op_dfu.c          |   0
 flight/{Libraries => libraries}/paths.c           |   0
 flight/{Libraries => libraries}/printf-stdarg.c   |   0
 flight/{Libraries => libraries}/printf2.c         |   0
 .../rscode}/.no-auto-format                       |   0
 flight/{Libraries => libraries}/rscode/LICENSE    |   0
 flight/{Libraries => libraries}/rscode/Makefile   |   0
 flight/{Libraries => libraries}/rscode/README     |   0
 .../{Libraries => libraries}/rscode/berlekamp.c   |   0
 flight/{Libraries => libraries}/rscode/config.doc |   0
 flight/{Libraries => libraries}/rscode/crcgen.c   |   0
 flight/{Libraries => libraries}/rscode/ecc.h      |   0
 flight/{Libraries => libraries}/rscode/example.c  |   0
 flight/{Libraries => libraries}/rscode/galois.c   |   0
 flight/{Libraries => libraries}/rscode/gpl.txt    |   0
 flight/{Libraries => libraries}/rscode/library.mk |   0
 flight/{Libraries => libraries}/rscode/rs.c       |   0
 flight/{Libraries => libraries}/rscode/rs.doc     |   0
 flight/{Libraries => libraries}/sanitycheck.c     |   0
 flight/{Libraries => libraries}/stopwatch.c       |   0
 flight/{Libraries => libraries}/taskmonitor.c     |   0
 flight/{Modules => modules}/Actuator/actuator.c   |   0
 .../{Modules => modules}/Actuator/inc/actuator.h  |   0
 .../Airspeed/revolution/airspeed.c                |   0
 .../Airspeed/revolution/baro_airspeed_etasv3.c    |   0
 .../Airspeed/revolution/baro_airspeed_mpxv.c      |   0
 .../Airspeed/revolution/gps_airspeed.c            |   0
 .../Airspeed/revolution/inc/airspeed.h            |   0
 .../revolution/inc/baro_airspeed_etasv3.h         |   0
 .../Airspeed/revolution/inc/baro_airspeed_mpxv.h  |   0
 .../Airspeed/revolution/inc/gps_airspeed.h        |   0
 flight/{Modules => modules}/Altitude/altitude.c   |   0
 .../{Modules => modules}/Altitude/inc/altitude.h  |   0
 .../Altitude/revolution/altitude.c                |   0
 .../Altitude/revolution/inc/altitude.h            |   0
 .../AltitudeHold/altitudehold.c                   |   0
 .../AltitudeHold/inc/altitudehold.h               |   0
 flight/{Modules => modules}/Attitude/attitude.c   |   0
 .../{Modules => modules}/Attitude/inc/attitude.h  |   0
 .../Attitude/revolution/attitude.c                |   0
 .../Attitude/revolution/inc/attitude.h            |   0
 flight/{Modules => modules}/Autotune/autotune.c   |   0
 .../{Modules => modules}/Autotune/inc/autotune.h  |   0
 flight/{Modules => modules}/Battery/battery.c     |   0
 flight/{Modules => modules}/Battery/inc/battery.h |   0
 .../{Modules => modules}/CameraStab/camerastab.c  |   0
 .../CameraStab/inc/camerastab.h                   |   0
 .../ComUsbBridge/ComUsbBridge.c                   |   0
 flight/{Modules => modules}/Example/example.c     |   0
 .../Example/examplemodevent.c                     |   0
 .../Example/examplemodperiodic.c                  |   0
 .../Example/examplemodthread.c                    |   0
 .../Example/inc/examplemodevent.h                 |   0
 .../Example/inc/examplemodperiodic.h              |   0
 .../Example/inc/examplemodthread.h                |   0
 .../Extensions/MagBaro/inc/magbaro.h              |   0
 .../Extensions/MagBaro/magbaro.c                  |   0
 flight/{Modules => modules}/Fault/Fault.c         |   0
 .../FirmwareIAP/firmwareiap.c                     |   0
 .../FirmwareIAP/inc/firmwareiap.h                 |   0
 .../FixedWingPathFollower/fixedwingpathfollower.c |   0
 .../{Modules => modules}/FlightPlan/flightplan.c  |   0
 .../FlightPlan/flightplans/test.py                |   0
 .../FlightPlan/inc/flightplan.h                   |   0
 .../FlightPlan/lib/openpilot.py                   |   0
 .../FlightPlan/lib/uavobject.py                   |   0
 .../FlightPlan/lib/uavobjecttemplate.pyt          |   0
 flight/{Modules => modules}/GPS/GPS.c             |   0
 flight/{Modules => modules}/GPS/NMEA.c            |   0
 flight/{Modules => modules}/GPS/UBX.c             |   0
 flight/{Modules => modules}/GPS/inc/GPS.h         |   0
 flight/{Modules => modules}/GPS/inc/NMEA.h        |   0
 flight/{Modules => modules}/GPS/inc/UBX.h         |   0
 .../{Modules => modules}/MK/MKSerial/MKSerial.c   |   0
 .../MK/MKSerial/inc/MkSerial.h                    |   0
 .../ManualControl/inc/manualcontrol.h             |   0
 .../ManualControl/manualcontrol.c                 |   0
 .../{Modules => modules}/OPLink/inc/oplinkmod.h   |   0
 flight/{Modules => modules}/OPLink/oplinkmod.c    |   0
 .../{Modules => modules}/Osd/OsdEtStd/OsdEtStd.c  |   0
 .../Osd/WavPlayer/inc/wavplayer.h                 |   0
 .../Osd/WavPlayer/wavplayer.c                     |   0
 .../{Modules => modules}/Osd/osdgen/inc/osdgen.h  |   0
 flight/{Modules => modules}/Osd/osdgen/osdgen.c   |   0
 .../Osd/osdinput/inc/osdinput.h                   |   0
 .../{Modules => modules}/Osd/osdinput/osdinput.c  |   0
 .../OveroSync/inc/overosync.h                     |   0
 flight/{Modules => modules}/OveroSync/overosync.c |   0
 .../OveroSync/simulated/inc/overosync.h           |   0
 .../OveroSync/simulated/overosync.c               |   0
 .../PathPlanner/inc/pathplanner.h                 |   0
 .../PathPlanner/pathplanner.c                     |   0
 .../RadioComBridge/RadioComBridge.c               |   0
 .../RadioComBridge/inc/radiocombridge.h           |   0
 flight/{Modules => modules}/Sensors/inc/sensors.h |   0
 flight/{Modules => modules}/Sensors/sensors.c     |   0
 .../Sensors/simulated/inc/sensors.h               |   0
 .../Sensors/simulated/sensors.c                   |   0
 .../Stabilization/inc/relay_tuning.h              |   0
 .../Stabilization/inc/stabilization.h             |   0
 .../Stabilization/inc/virtualflybar.h             |   0
 .../Stabilization/relay_tuning.c                  |   0
 .../Stabilization/stabilization.c                 |   0
 .../Stabilization/virtualflybar.c                 |   0
 .../{Modules => modules}/System/inc/systemmod.h   |   0
 flight/{Modules => modules}/System/systemmod.c    |   0
 .../Telemetry/inc/telemetry.h                     |   0
 flight/{Modules => modules}/Telemetry/telemetry.c |   0
 flight/{Modules => modules}/TxPID/inc/txpid.h     |   0
 flight/{Modules => modules}/TxPID/txpid.c         |   0
 .../VtolPathFollower/inc/vtolpathfollower.h       |   0
 .../VtolPathFollower/vtolpathfollower.c           |   0
 flight/targets/boards/osd/firmware/Makefile       |   2 +-
 .../boards/revolution/firmware/Makefile.osx       |   6 +++---
 .../boards/revoproto/firmware/Makefile.osx        |   8 ++++----
 flight/targets/boards/simposix/firmware/Makefile  |   8 ++++----
 make/apps-defs.mk                                 |   2 +-
 1650 files changed, 34 insertions(+), 34 deletions(-)
 rename flight/{Libraries/PyMite => PiOS.osx/osx/libraries}/.no-auto-format (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/croutine.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/FreeRTOS.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/StackMacros.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/croutine.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/list.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/mpu_wrappers.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/portable.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/projdefs.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/queue.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/semphr.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/task.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/include/timers.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/list.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Posix/port.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Posix/portmacro.h (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/portable/MemMang/heap_3.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/portable/readme.txt (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/queue.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/readme.txt (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/task.c (100%)
 rename flight/PiOS.osx/osx/{Libraries => libraries}/FreeRTOS/Source/timers.c (100%)
 rename flight/{Libraries/rscode => PiOS.win32/win32/libraries}/.no-auto-format (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/croutine.c (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/FreeRTOS.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/StackMacros.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/croutine.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/list.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/mpu_wrappers.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/portable.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/projdefs.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/queue.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/semphr.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/include/task.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/list.c (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Win32/port.c (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/portable/GCC/Win32/portmacro.h (100%)
 rename flight/PiOS.win32/win32/{Libraries => libraries}/FreeRTOS/Source/portable/MemMang/heap_3.c (100%)
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 rename flight/{Modules => modules}/Airspeed/revolution/inc/baro_airspeed_etasv3.h (100%)
 rename flight/{Modules => modules}/Airspeed/revolution/inc/baro_airspeed_mpxv.h (100%)
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 rename flight/{Modules => modules}/AltitudeHold/altitudehold.c (100%)
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 rename flight/{Modules => modules}/Autotune/autotune.c (100%)
 rename flight/{Modules => modules}/Autotune/inc/autotune.h (100%)
 rename flight/{Modules => modules}/Battery/battery.c (100%)
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 rename flight/{Modules => modules}/CameraStab/camerastab.c (100%)
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 rename flight/{Modules => modules}/ComUsbBridge/ComUsbBridge.c (100%)
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 rename flight/{Modules => modules}/Example/inc/examplemodthread.h (100%)
 rename flight/{Modules => modules}/Extensions/MagBaro/inc/magbaro.h (100%)
 rename flight/{Modules => modules}/Extensions/MagBaro/magbaro.c (100%)
 rename flight/{Modules => modules}/Fault/Fault.c (100%)
 rename flight/{Modules => modules}/FirmwareIAP/firmwareiap.c (100%)
 rename flight/{Modules => modules}/FirmwareIAP/inc/firmwareiap.h (100%)
 rename flight/{Modules => modules}/FixedWingPathFollower/fixedwingpathfollower.c (100%)
 rename flight/{Modules => modules}/FlightPlan/flightplan.c (100%)
 rename flight/{Modules => modules}/FlightPlan/flightplans/test.py (100%)
 rename flight/{Modules => modules}/FlightPlan/inc/flightplan.h (100%)
 rename flight/{Modules => modules}/FlightPlan/lib/openpilot.py (100%)
 rename flight/{Modules => modules}/FlightPlan/lib/uavobject.py (100%)
 rename flight/{Modules => modules}/FlightPlan/lib/uavobjecttemplate.pyt (100%)
 rename flight/{Modules => modules}/GPS/GPS.c (100%)
 rename flight/{Modules => modules}/GPS/NMEA.c (100%)
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 rename flight/{Modules => modules}/GPS/inc/NMEA.h (100%)
 rename flight/{Modules => modules}/GPS/inc/UBX.h (100%)
 rename flight/{Modules => modules}/MK/MKSerial/MKSerial.c (100%)
 rename flight/{Modules => modules}/MK/MKSerial/inc/MkSerial.h (100%)
 rename flight/{Modules => modules}/ManualControl/inc/manualcontrol.h (100%)
 rename flight/{Modules => modules}/ManualControl/manualcontrol.c (100%)
 rename flight/{Modules => modules}/OPLink/inc/oplinkmod.h (100%)
 rename flight/{Modules => modules}/OPLink/oplinkmod.c (100%)
 rename flight/{Modules => modules}/Osd/OsdEtStd/OsdEtStd.c (100%)
 rename flight/{Modules => modules}/Osd/WavPlayer/inc/wavplayer.h (100%)
 rename flight/{Modules => modules}/Osd/WavPlayer/wavplayer.c (100%)
 rename flight/{Modules => modules}/Osd/osdgen/inc/osdgen.h (100%)
 rename flight/{Modules => modules}/Osd/osdgen/osdgen.c (100%)
 rename flight/{Modules => modules}/Osd/osdinput/inc/osdinput.h (100%)
 rename flight/{Modules => modules}/Osd/osdinput/osdinput.c (100%)
 rename flight/{Modules => modules}/OveroSync/inc/overosync.h (100%)
 rename flight/{Modules => modules}/OveroSync/overosync.c (100%)
 rename flight/{Modules => modules}/OveroSync/simulated/inc/overosync.h (100%)
 rename flight/{Modules => modules}/OveroSync/simulated/overosync.c (100%)
 rename flight/{Modules => modules}/PathPlanner/inc/pathplanner.h (100%)
 rename flight/{Modules => modules}/PathPlanner/pathplanner.c (100%)
 rename flight/{Modules => modules}/RadioComBridge/RadioComBridge.c (100%)
 rename flight/{Modules => modules}/RadioComBridge/inc/radiocombridge.h (100%)
 rename flight/{Modules => modules}/Sensors/inc/sensors.h (100%)
 rename flight/{Modules => modules}/Sensors/sensors.c (100%)
 rename flight/{Modules => modules}/Sensors/simulated/inc/sensors.h (100%)
 rename flight/{Modules => modules}/Sensors/simulated/sensors.c (100%)
 rename flight/{Modules => modules}/Stabilization/inc/relay_tuning.h (100%)
 rename flight/{Modules => modules}/Stabilization/inc/stabilization.h (100%)
 rename flight/{Modules => modules}/Stabilization/inc/virtualflybar.h (100%)
 rename flight/{Modules => modules}/Stabilization/relay_tuning.c (100%)
 rename flight/{Modules => modules}/Stabilization/stabilization.c (100%)
 rename flight/{Modules => modules}/Stabilization/virtualflybar.c (100%)
 rename flight/{Modules => modules}/System/inc/systemmod.h (100%)
 rename flight/{Modules => modules}/System/systemmod.c (100%)
 rename flight/{Modules => modules}/Telemetry/inc/telemetry.h (100%)
 rename flight/{Modules => modules}/Telemetry/telemetry.c (100%)
 rename flight/{Modules => modules}/TxPID/inc/txpid.h (100%)
 rename flight/{Modules => modules}/TxPID/txpid.c (100%)
 rename flight/{Modules => modules}/VtolPathFollower/inc/vtolpathfollower.h (100%)
 rename flight/{Modules => modules}/VtolPathFollower/vtolpathfollower.c (100%)

diff --git a/Makefile b/Makefile
index fc0dd8f28..805a9ac3b 100644
--- a/Makefile
+++ b/Makefile
@@ -188,8 +188,8 @@ uavobjects_clean:
 # Define some pointers to the various important pieces of the flight code
 # to prevent these being repeated in every sub makefile
 export PIOS          := $(ROOT_DIR)/flight/PiOS
-export FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
-export OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
+export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
+export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
 export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
diff --git a/flight/Libraries/PyMite/.no-auto-format b/flight/PiOS.osx/osx/libraries/.no-auto-format
similarity index 100%
rename from flight/Libraries/PyMite/.no-auto-format
rename to flight/PiOS.osx/osx/libraries/.no-auto-format
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/croutine.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/croutine.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/croutine.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/FreeRTOS.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/StackMacros.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/croutine.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/croutine.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/croutine.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/list.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/list.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/list.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/portable.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/portable.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/portable.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/projdefs.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/projdefs.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/projdefs.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/queue.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/queue.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/queue.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/semphr.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/semphr.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/semphr.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/task.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/task.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/timers.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/timers.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/include/timers.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/timers.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/list.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/list.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/queue.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/queue.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/task.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/task.c
diff --git a/flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/timers.c b/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/timers.c
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/timers.c
rename to flight/PiOS.osx/osx/libraries/FreeRTOS/Source/timers.c
diff --git a/flight/Libraries/rscode/.no-auto-format b/flight/PiOS.win32/win32/libraries/.no-auto-format
similarity index 100%
rename from flight/Libraries/rscode/.no-auto-format
rename to flight/PiOS.win32/win32/libraries/.no-auto-format
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/croutine.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/croutine.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/croutine.c
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/FreeRTOS.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/StackMacros.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/croutine.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/croutine.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/croutine.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/list.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/list.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/list.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/list.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/portable.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/portable.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/portable.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/projdefs.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/projdefs.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/projdefs.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/queue.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/queue.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/queue.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/semphr.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/semphr.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/semphr.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/task.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/include/task.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/list.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/list.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/list.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/queue.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/queue.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/tasks.c
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c
rename to flight/PiOS.win32/win32/libraries/FreeRTOS/Source/tasks.c
diff --git a/flight/PiOS.osx/osx/Libraries/.no-auto-format b/flight/PiOS/Common/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS.osx/osx/Libraries/.no-auto-format
rename to flight/PiOS/Common/libraries/.no-auto-format
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf b/flight/PiOS/Common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
rename to flight/PiOS/Common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
rename to flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
similarity index 100%
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Include/arm_common_tables.h b/flight/PiOS/Common/libraries/CMSIS2/Include/arm_common_tables.h
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Include/core_cm0.h b/flight/PiOS/Common/libraries/CMSIS2/Include/core_cm0.h
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Include/core_cmInstr.h b/flight/PiOS/Common/libraries/CMSIS2/Include/core_cmInstr.h
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rename to flight/PiOS/Common/libraries/CMSIS2/Include/core_cmInstr.h
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/library.mk b/flight/PiOS/Common/libraries/CMSIS2/library.mk
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rename from flight/PiOS/Common/Libraries/CMSIS2/library.mk
rename to flight/PiOS/Common/libraries/CMSIS2/library.mk
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/croutine.c
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/StackMacros.h
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/mpu_wrappers.h
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/portable.h
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/include/portable.h
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/include/portable.h
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/projdefs.h
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/include/projdefs.h
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/queue.h
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/include/queue.h
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/include/queue.h
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/semphr.h
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rename to flight/PiOS/Common/libraries/FreeRTOS/Source/include/semphr.h
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/task.h
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rename to flight/PiOS/Common/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/include/timers.h b/flight/PiOS/Common/libraries/FreeRTOS/Source/include/timers.h
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/list.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/list.c
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rename to flight/PiOS/Common/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
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diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/readme.txt
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/queue.c
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rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/queue.c
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/Common/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/tasks.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/tasks.c
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/tasks.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c b/flight/PiOS/Common/libraries/FreeRTOS/Source/timers.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/FreeRTOS/Source/timers.c
rename to flight/PiOS/Common/libraries/FreeRTOS/Source/timers.c
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/Common/libraries/FreeRTOS/howto_upgrade.txt
similarity index 97%
rename from flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
rename to flight/PiOS/Common/libraries/FreeRTOS/howto_upgrade.txt
index aa64ebc24..86af27d90 100644
--- a/flight/PiOS/Common/Libraries/FreeRTOS/howto_upgrade.txt
+++ b/flight/PiOS/Common/libraries/FreeRTOS/howto_upgrade.txt
@@ -52,7 +52,7 @@ add the following function:
 
 it usually is added after the declaration of vTaskGetRunTimeStats.
 
-- STM32F1XX/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+- STM32F1XX/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
 add the following define for 
 
 #define portBYTE_HEAP_ALIGNMENT     4 // this value is used to allocate heap
@@ -68,7 +68,7 @@ xPortIncreaseHeapSize function.
 Also it allows for configurable aligments for Heap and Stack allocations.
 
 --- ../op_evo/FreeRTOSV7.4.0/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-06 15:04:22.760048534 +0200
-+++ ./flight/PiOS/Common/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-08 02:23:01.649194752 +0200
++++ ./flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c	2013-04-08 02:23:01.649194752 +0200
 @@ -92,26 +92,30 @@
  
  #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
diff --git a/flight/PiOS/Common/Libraries/FreeRTOS/library.mk b/flight/PiOS/Common/libraries/FreeRTOS/library.mk
similarity index 100%
rename from flight/PiOS/Common/Libraries/FreeRTOS/library.mk
rename to flight/PiOS/Common/libraries/FreeRTOS/library.mk
diff --git a/flight/PiOS/Common/Libraries/dosfs/README.txt b/flight/PiOS/Common/libraries/dosfs/README.txt
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rename from flight/PiOS/Common/Libraries/dosfs/README.txt
rename to flight/PiOS/Common/libraries/dosfs/README.txt
diff --git a/flight/PiOS/Common/Libraries/dosfs/README_1st.txt b/flight/PiOS/Common/libraries/dosfs/README_1st.txt
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rename from flight/PiOS/Common/Libraries/dosfs/README_1st.txt
rename to flight/PiOS/Common/libraries/dosfs/README_1st.txt
diff --git a/flight/PiOS/Common/Libraries/dosfs/dfs_sdcard.c b/flight/PiOS/Common/libraries/dosfs/dfs_sdcard.c
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rename from flight/PiOS/Common/Libraries/dosfs/dfs_sdcard.c
rename to flight/PiOS/Common/libraries/dosfs/dfs_sdcard.c
diff --git a/flight/PiOS/Common/Libraries/dosfs/dosfs.c b/flight/PiOS/Common/libraries/dosfs/dosfs.c
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rename from flight/PiOS/Common/Libraries/dosfs/dosfs.c
rename to flight/PiOS/Common/libraries/dosfs/dosfs.c
diff --git a/flight/PiOS/Common/Libraries/dosfs/dosfs.h b/flight/PiOS/Common/libraries/dosfs/dosfs.h
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rename from flight/PiOS/Common/Libraries/dosfs/dosfs.h
rename to flight/PiOS/Common/libraries/dosfs/dosfs.h
diff --git a/flight/PiOS/Common/Libraries/dosfs/library.mk b/flight/PiOS/Common/libraries/dosfs/library.mk
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rename from flight/PiOS/Common/Libraries/dosfs/library.mk
rename to flight/PiOS/Common/libraries/dosfs/library.mk
diff --git a/flight/PiOS/Common/Libraries/msheap/library.mk b/flight/PiOS/Common/libraries/msheap/library.mk
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rename from flight/PiOS/Common/Libraries/msheap/library.mk
rename to flight/PiOS/Common/libraries/msheap/library.mk
diff --git a/flight/PiOS/Common/Libraries/msheap/msheap.c b/flight/PiOS/Common/libraries/msheap/msheap.c
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rename from flight/PiOS/Common/Libraries/msheap/msheap.c
rename to flight/PiOS/Common/libraries/msheap/msheap.c
diff --git a/flight/PiOS/Common/Libraries/msheap/msheap.h b/flight/PiOS/Common/libraries/msheap/msheap.h
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rename from flight/PiOS/Common/Libraries/msheap/msheap.h
rename to flight/PiOS/Common/libraries/msheap/msheap.h
diff --git a/flight/PiOS/Common/Libraries/msheap/pios_msheap.c b/flight/PiOS/Common/libraries/msheap/pios_msheap.c
similarity index 100%
rename from flight/PiOS/Common/Libraries/msheap/pios_msheap.c
rename to flight/PiOS/Common/libraries/msheap/pios_msheap.c
diff --git a/flight/PiOS.win32/win32/Libraries/.no-auto-format b/flight/PiOS/STM32F10x/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS.win32/win32/Libraries/.no-auto-format
rename to flight/PiOS/STM32F10x/libraries/.no-auto-format
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.c b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/core_cm3.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.c
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/core_cm3.c
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/stm32f10x.h b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/stm32f10x.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/stm32f10x.h
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/stm32f10x.h
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/system_stm32f10x.c b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/system_stm32f10x.c
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/system_stm32f10x.h b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/system_stm32f10x.h
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/Documentation/CMSIS_Core.htm b/flight/PiOS/STM32F10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
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rename from flight/PiOS/STM32F10x/Libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
rename to flight/PiOS/STM32F10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/License.doc b/flight/PiOS/STM32F10x/libraries/CMSIS/License.doc
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/CMSIS/License.doc
rename to flight/PiOS/STM32F10x/libraries/CMSIS/License.doc
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
rename to flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
rename to flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c b/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
rename to flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_init.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_int.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c b/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
rename to flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd.c b/flight/PiOS/STM32F10x/libraries/msd/msd.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd.h b/flight/PiOS/STM32F10x/libraries/msd/msd.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd.h
rename to flight/PiOS/STM32F10x/libraries/msd/msd.h
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_bot.c b/flight/PiOS/STM32F10x/libraries/msd/msd_bot.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_bot.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd_bot.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_bot.h b/flight/PiOS/STM32F10x/libraries/msd/msd_bot.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_bot.h
rename to flight/PiOS/STM32F10x/libraries/msd/msd_bot.h
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_desc.c b/flight/PiOS/STM32F10x/libraries/msd/msd_desc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_desc.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd_desc.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_desc.h b/flight/PiOS/STM32F10x/libraries/msd/msd_desc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_desc.h
rename to flight/PiOS/STM32F10x/libraries/msd/msd_desc.h
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_memory.c b/flight/PiOS/STM32F10x/libraries/msd/msd_memory.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_memory.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd_memory.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_memory.h b/flight/PiOS/STM32F10x/libraries/msd/msd_memory.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_memory.h
rename to flight/PiOS/STM32F10x/libraries/msd/msd_memory.h
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_scsi.c b/flight/PiOS/STM32F10x/libraries/msd/msd_scsi.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_scsi.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd_scsi.c
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_scsi.h b/flight/PiOS/STM32F10x/libraries/msd/msd_scsi.h
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_scsi.h
rename to flight/PiOS/STM32F10x/libraries/msd/msd_scsi.h
diff --git a/flight/PiOS/STM32F10x/Libraries/msd/msd_scsi_data.c b/flight/PiOS/STM32F10x/libraries/msd/msd_scsi_data.c
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/msd/msd_scsi_data.c
rename to flight/PiOS/STM32F10x/libraries/msd/msd_scsi_data.c
diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
index b5aa409f5..a87719d54 100644
--- a/flight/PiOS/STM32F10x/library.mk
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -21,19 +21,19 @@ ASRC			+= $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 
 # CMSIS for the F1
-include $(PIOS)/Common/Libraries/CMSIS2/library.mk
-CMSIS_DIR		= $(PIOS_DEVLIB)Libraries/CMSIS/Core/CM3
+include $(PIOS)/Common/libraries/CMSIS2/library.mk
+CMSIS_DIR		= $(PIOS_DEVLIB)libraries/CMSIS/Core/CM3
 SRC			+= $(CMSIS_DIR)/core_cm3.c
 SRC			+= $(CMSIS_DIR)/system_stm32f10x.c
 EXTRAINCDIRS		+= $(CMSIS_DIR)
 
 # ST Peripheral library
-PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
+PERIPHLIB		=  $(PIOS_DEVLIB)libraries/STM32F10x_StdPeriph_Driver
 SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB Device library
-USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
+USBDEVLIB		=  $(PIOS_DEVLIB)libraries/STM32_USB-FS-Device_Driver
 SRC			+= $(sort $(wildcard $(USBDEVLIB)/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 
@@ -44,7 +44,7 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 # the device-specific pieces of the code.
 #
 ifneq ($(FREERTOS_DIR),)
-    FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
+    FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)libraries/FreeRTOS/Source
     SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c))
     SRC			+= $(sort $(wildcard $(FREERTOS_DIR)/portable/MemMang/heap_1.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
diff --git a/flight/PiOS/Common/Libraries/.no-auto-format b/flight/PiOS/STM32F4xx/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/Common/Libraries/.no-auto-format
rename to flight/PiOS/STM32F4xx/libraries/.no-auto-format
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h b/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
rename to flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h b/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
rename to flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c b/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
rename to flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
rename to flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
rename to flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/misc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c b/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
rename to flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Release_Notes.html b/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_Device_Library/Release_Notes.html
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/Release_Notes.html b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/Release_Notes.html
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_conf.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_core.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_core.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_otg.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_core.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_core.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_otg.c b/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_otg.c
rename to flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
diff --git a/flight/PiOS/STM32F4xx/library.mk b/flight/PiOS/STM32F4xx/library.mk
index a38b2720d..058e9ae5d 100644
--- a/flight/PiOS/STM32F4xx/library.mk
+++ b/flight/PiOS/STM32F4xx/library.mk
@@ -24,24 +24,24 @@ SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 EXTRAINCDIRS		+= $(PIOS_DEVLIB)inc
 
 # CMSIS for the F4
-include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
-CMSIS2_DEVICEDIR	:= $(PIOS_DEVLIB)Libraries/CMSIS2/Device/ST/STM32F4xx
+include $(PIOSCOMMON)/libraries/CMSIS2/library.mk
+CMSIS2_DEVICEDIR	:= $(PIOS_DEVLIB)libraries/CMSIS2/Device/ST/STM32F4xx
 SRC			+= $(sort $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c))
 EXTRAINCDIRS		+= $(CMSIS2_DEVICEDIR)/Include
 
 # ST Peripheral library
-PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F4xx_StdPeriph_Driver
+PERIPHLIB		=  $(PIOS_DEVLIB)libraries/STM32F4xx_StdPeriph_Driver
 SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB OTG library
-USBOTGLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB_OTG_Driver
+USBOTGLIB		=  $(PIOS_DEVLIB)libraries/STM32_USB_OTG_Driver
 USBOTGLIB_SRC		=  usb_core.c usb_dcd.c usb_dcd_int.c
 SRC			+= $(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
 EXTRAINCDIRS		+= $(USBOTGLIB)/inc
 
 # ST USB Device library
-USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB_Device_Library
+USBDEVLIB		=  $(PIOS_DEVLIB)libraries/STM32_USB_Device_Library
 SRC			+= $(sort $(wildcard $(USBDEVLIB)/Core/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 
@@ -52,8 +52,8 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 # the device-specific pieces of the code.
 #
 ifneq ($(FREERTOS_DIR),)
-    FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
+    FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)libraries/FreeRTOS/Source
     SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
-    include $(PIOSCOMMON)/Libraries/msheap/library.mk
+    include $(PIOSCOMMON)/libraries/msheap/library.mk
 endif
diff --git a/flight/PiOS/STM32F10x/Libraries/.no-auto-format b/flight/PiOS/posix/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/STM32F10x/Libraries/.no-auto-format
rename to flight/PiOS/posix/libraries/.no-auto-format
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
rename to flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt b/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
rename to flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h b/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
rename to flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS/posix/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/posix/Libraries/FreeRTOS/library.mk b/flight/PiOS/posix/libraries/FreeRTOS/library.mk
similarity index 100%
rename from flight/PiOS/posix/Libraries/FreeRTOS/library.mk
rename to flight/PiOS/posix/libraries/FreeRTOS/library.mk
diff --git a/flight/PiOS/posix/library.mk b/flight/PiOS/posix/library.mk
index 79cadc5c7..55d9d21aa 100644
--- a/flight/PiOS/posix/library.mk
+++ b/flight/PiOS/posix/library.mk
@@ -34,21 +34,21 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 # CMSIS for the F4
 #
 #include $(PIOSCOMMONLIB)/CMSIS2/library.mk
-#CMSIS2_DEVICEDIR	:=	$(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
+#CMSIS2_DEVICEDIR	:=	$(PIOS_DEVLIB)/libraries/CMSIS2/Device/ST/STM32F4xx
 #SRC					+=	$(wildcard $(CMSIS2_DEVICEDIR)/Source/*.c)
 #EXTRAINCDIRS		+=	$(CMSIS2_DEVICEDIR)/Include
 
 #
 # ST Peripheral library
 #
-#PERIPHLIB			 =	$(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
+#PERIPHLIB			 =	$(PIOS_DEVLIB)/libraries/STM32F4xx_StdPeriph_Driver
 #SRC					+=	$(wildcard $(PERIPHLIB)/src/*.c)
 #EXTRAINCDIRS		+=	$(PERIPHLIB)/inc
 
 #
 # ST USB OTG library
 #
-#USBOTGLIB			=	$(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
+#USBOTGLIB			=	$(PIOS_DEVLIB)/libraries/STM32_USB_OTG_Driver
 #USBOTGLIB_SRC			=	usb_core.c usb_dcd.c usb_dcd_int.c
 #SRC				+=	$(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
 #EXTRAINCDIRS			+=	$(USBOTGLIB)/inc
@@ -56,7 +56,7 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 #
 # ST USB Device library
 #
-#USBDEVLIB			=	$(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
+#USBDEVLIB			=	$(PIOS_DEVLIB)/libraries/STM32_USB_Device_Library
 #SRC				+=	$(wildcard $(USBDEVLIB)/Core/src/*.c)
 #EXTRAINCDIRS			+=	$(USBDEVLIB)/Core/inc
 
@@ -67,7 +67,7 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 # the device-specific pieces of the code.
 #
 ifneq ($(FREERTOS_DIR),)
-FREERTOS_PORTDIR	:=	$(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
+FREERTOS_PORTDIR	:=	$(PIOS_DEVLIB)/libraries/FreeRTOS/Source
 SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c))
 SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c))
 
diff --git a/flight/Libraries/CoordinateConversions.c b/flight/libraries/CoordinateConversions.c
similarity index 100%
rename from flight/Libraries/CoordinateConversions.c
rename to flight/libraries/CoordinateConversions.c
diff --git a/flight/PiOS/STM32F4xx/Libraries/.no-auto-format b/flight/libraries/PyMite/.no-auto-format
similarity index 100%
rename from flight/PiOS/STM32F4xx/Libraries/.no-auto-format
rename to flight/libraries/PyMite/.no-auto-format
diff --git a/flight/Libraries/PyMite/lib/COPYING b/flight/libraries/PyMite/lib/COPYING
similarity index 100%
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similarity index 100%
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rename to flight/libraries/PyMite/lib/__bi.py
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similarity index 100%
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similarity index 100%
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rename to flight/libraries/PyMite/lib/func.py
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similarity index 100%
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rename to flight/libraries/PyMite/platform/COPYING
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rename to flight/libraries/PyMite/platform/desktop/Makefile
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similarity index 100%
rename from flight/Libraries/PyMite/platform/desktop/README
rename to flight/libraries/PyMite/platform/desktop/README
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similarity index 100%
rename from flight/Libraries/PyMite/platform/desktop/SConscript
rename to flight/libraries/PyMite/platform/desktop/SConscript
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similarity index 100%
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rename to flight/libraries/PyMite/platform/desktop/main.c
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rename to flight/libraries/PyMite/platform/desktop/main.py
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similarity index 100%
rename from flight/Libraries/PyMite/platform/desktop/plat.c
rename to flight/libraries/PyMite/platform/desktop/plat.c
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similarity index 100%
rename from flight/Libraries/PyMite/platform/desktop/plat.h
rename to flight/libraries/PyMite/platform/desktop/plat.h
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similarity index 100%
rename from flight/Libraries/PyMite/platform/desktop/pmfeatures.py
rename to flight/libraries/PyMite/platform/desktop/pmfeatures.py
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similarity index 100%
rename from flight/Libraries/PyMite/platform/openpilot/SConscript
rename to flight/libraries/PyMite/platform/openpilot/SConscript
diff --git a/flight/Libraries/PyMite/platform/openpilot/plat.c b/flight/libraries/PyMite/platform/openpilot/plat.c
similarity index 100%
rename from flight/Libraries/PyMite/platform/openpilot/plat.c
rename to flight/libraries/PyMite/platform/openpilot/plat.c
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similarity index 100%
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rename to flight/libraries/PyMite/platform/openpilot/plat.h
diff --git a/flight/Libraries/PyMite/platform/openpilot/pmfeatures.py b/flight/libraries/PyMite/platform/openpilot/pmfeatures.py
similarity index 100%
rename from flight/Libraries/PyMite/platform/openpilot/pmfeatures.py
rename to flight/libraries/PyMite/platform/openpilot/pmfeatures.py
diff --git a/flight/Libraries/PyMite/platform/openpilot_sitl/SConscript b/flight/libraries/PyMite/platform/openpilot_sitl/SConscript
similarity index 100%
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rename to flight/libraries/PyMite/platform/openpilot_sitl/SConscript
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similarity index 100%
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rename to flight/libraries/PyMite/platform/openpilot_sitl/plat.c
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rename to flight/libraries/PyMite/platform/openpilot_sitl/pmfeatures.py
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rename to flight/libraries/PyMite/platform/windows/README
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rename from flight/Libraries/PyMite/platform/windows/SConscript
rename to flight/libraries/PyMite/platform/windows/SConscript
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rename to flight/libraries/PyMite/platform/windows/main.c
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similarity index 100%
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rename to flight/libraries/PyMite/platform/windows/plat.c
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rename from flight/Libraries/PyMite/platform/windows/plat.h
rename to flight/libraries/PyMite/platform/windows/plat.h
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rename from flight/Libraries/PyMite/platform/windows/pmfeatures.h
rename to flight/libraries/PyMite/platform/windows/pmfeatures.h
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rename to flight/libraries/PyMite/platform/windows/pmfeatures.py
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rename to flight/libraries/PyMite/platform/windows/py2c.bat
diff --git a/flight/Libraries/PyMite/platform/windows/pymiteVS2008.sln b/flight/libraries/PyMite/platform/windows/pymiteVS2008.sln
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rename from flight/Modules/Autotune/autotune.c
rename to flight/modules/Autotune/autotune.c
diff --git a/flight/Modules/Autotune/inc/autotune.h b/flight/modules/Autotune/inc/autotune.h
similarity index 100%
rename from flight/Modules/Autotune/inc/autotune.h
rename to flight/modules/Autotune/inc/autotune.h
diff --git a/flight/Modules/Battery/battery.c b/flight/modules/Battery/battery.c
similarity index 100%
rename from flight/Modules/Battery/battery.c
rename to flight/modules/Battery/battery.c
diff --git a/flight/Modules/Battery/inc/battery.h b/flight/modules/Battery/inc/battery.h
similarity index 100%
rename from flight/Modules/Battery/inc/battery.h
rename to flight/modules/Battery/inc/battery.h
diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/modules/CameraStab/camerastab.c
similarity index 100%
rename from flight/Modules/CameraStab/camerastab.c
rename to flight/modules/CameraStab/camerastab.c
diff --git a/flight/Modules/CameraStab/inc/camerastab.h b/flight/modules/CameraStab/inc/camerastab.h
similarity index 100%
rename from flight/Modules/CameraStab/inc/camerastab.h
rename to flight/modules/CameraStab/inc/camerastab.h
diff --git a/flight/Modules/ComUsbBridge/ComUsbBridge.c b/flight/modules/ComUsbBridge/ComUsbBridge.c
similarity index 100%
rename from flight/Modules/ComUsbBridge/ComUsbBridge.c
rename to flight/modules/ComUsbBridge/ComUsbBridge.c
diff --git a/flight/Modules/Example/example.c b/flight/modules/Example/example.c
similarity index 100%
rename from flight/Modules/Example/example.c
rename to flight/modules/Example/example.c
diff --git a/flight/Modules/Example/examplemodevent.c b/flight/modules/Example/examplemodevent.c
similarity index 100%
rename from flight/Modules/Example/examplemodevent.c
rename to flight/modules/Example/examplemodevent.c
diff --git a/flight/Modules/Example/examplemodperiodic.c b/flight/modules/Example/examplemodperiodic.c
similarity index 100%
rename from flight/Modules/Example/examplemodperiodic.c
rename to flight/modules/Example/examplemodperiodic.c
diff --git a/flight/Modules/Example/examplemodthread.c b/flight/modules/Example/examplemodthread.c
similarity index 100%
rename from flight/Modules/Example/examplemodthread.c
rename to flight/modules/Example/examplemodthread.c
diff --git a/flight/Modules/Example/inc/examplemodevent.h b/flight/modules/Example/inc/examplemodevent.h
similarity index 100%
rename from flight/Modules/Example/inc/examplemodevent.h
rename to flight/modules/Example/inc/examplemodevent.h
diff --git a/flight/Modules/Example/inc/examplemodperiodic.h b/flight/modules/Example/inc/examplemodperiodic.h
similarity index 100%
rename from flight/Modules/Example/inc/examplemodperiodic.h
rename to flight/modules/Example/inc/examplemodperiodic.h
diff --git a/flight/Modules/Example/inc/examplemodthread.h b/flight/modules/Example/inc/examplemodthread.h
similarity index 100%
rename from flight/Modules/Example/inc/examplemodthread.h
rename to flight/modules/Example/inc/examplemodthread.h
diff --git a/flight/Modules/Extensions/MagBaro/inc/magbaro.h b/flight/modules/Extensions/MagBaro/inc/magbaro.h
similarity index 100%
rename from flight/Modules/Extensions/MagBaro/inc/magbaro.h
rename to flight/modules/Extensions/MagBaro/inc/magbaro.h
diff --git a/flight/Modules/Extensions/MagBaro/magbaro.c b/flight/modules/Extensions/MagBaro/magbaro.c
similarity index 100%
rename from flight/Modules/Extensions/MagBaro/magbaro.c
rename to flight/modules/Extensions/MagBaro/magbaro.c
diff --git a/flight/Modules/Fault/Fault.c b/flight/modules/Fault/Fault.c
similarity index 100%
rename from flight/Modules/Fault/Fault.c
rename to flight/modules/Fault/Fault.c
diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/modules/FirmwareIAP/firmwareiap.c
similarity index 100%
rename from flight/Modules/FirmwareIAP/firmwareiap.c
rename to flight/modules/FirmwareIAP/firmwareiap.c
diff --git a/flight/Modules/FirmwareIAP/inc/firmwareiap.h b/flight/modules/FirmwareIAP/inc/firmwareiap.h
similarity index 100%
rename from flight/Modules/FirmwareIAP/inc/firmwareiap.h
rename to flight/modules/FirmwareIAP/inc/firmwareiap.h
diff --git a/flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
similarity index 100%
rename from flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
rename to flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/modules/FlightPlan/flightplan.c
similarity index 100%
rename from flight/Modules/FlightPlan/flightplan.c
rename to flight/modules/FlightPlan/flightplan.c
diff --git a/flight/Modules/FlightPlan/flightplans/test.py b/flight/modules/FlightPlan/flightplans/test.py
similarity index 100%
rename from flight/Modules/FlightPlan/flightplans/test.py
rename to flight/modules/FlightPlan/flightplans/test.py
diff --git a/flight/Modules/FlightPlan/inc/flightplan.h b/flight/modules/FlightPlan/inc/flightplan.h
similarity index 100%
rename from flight/Modules/FlightPlan/inc/flightplan.h
rename to flight/modules/FlightPlan/inc/flightplan.h
diff --git a/flight/Modules/FlightPlan/lib/openpilot.py b/flight/modules/FlightPlan/lib/openpilot.py
similarity index 100%
rename from flight/Modules/FlightPlan/lib/openpilot.py
rename to flight/modules/FlightPlan/lib/openpilot.py
diff --git a/flight/Modules/FlightPlan/lib/uavobject.py b/flight/modules/FlightPlan/lib/uavobject.py
similarity index 100%
rename from flight/Modules/FlightPlan/lib/uavobject.py
rename to flight/modules/FlightPlan/lib/uavobject.py
diff --git a/flight/Modules/FlightPlan/lib/uavobjecttemplate.pyt b/flight/modules/FlightPlan/lib/uavobjecttemplate.pyt
similarity index 100%
rename from flight/Modules/FlightPlan/lib/uavobjecttemplate.pyt
rename to flight/modules/FlightPlan/lib/uavobjecttemplate.pyt
diff --git a/flight/Modules/GPS/GPS.c b/flight/modules/GPS/GPS.c
similarity index 100%
rename from flight/Modules/GPS/GPS.c
rename to flight/modules/GPS/GPS.c
diff --git a/flight/Modules/GPS/NMEA.c b/flight/modules/GPS/NMEA.c
similarity index 100%
rename from flight/Modules/GPS/NMEA.c
rename to flight/modules/GPS/NMEA.c
diff --git a/flight/Modules/GPS/UBX.c b/flight/modules/GPS/UBX.c
similarity index 100%
rename from flight/Modules/GPS/UBX.c
rename to flight/modules/GPS/UBX.c
diff --git a/flight/Modules/GPS/inc/GPS.h b/flight/modules/GPS/inc/GPS.h
similarity index 100%
rename from flight/Modules/GPS/inc/GPS.h
rename to flight/modules/GPS/inc/GPS.h
diff --git a/flight/Modules/GPS/inc/NMEA.h b/flight/modules/GPS/inc/NMEA.h
similarity index 100%
rename from flight/Modules/GPS/inc/NMEA.h
rename to flight/modules/GPS/inc/NMEA.h
diff --git a/flight/Modules/GPS/inc/UBX.h b/flight/modules/GPS/inc/UBX.h
similarity index 100%
rename from flight/Modules/GPS/inc/UBX.h
rename to flight/modules/GPS/inc/UBX.h
diff --git a/flight/Modules/MK/MKSerial/MKSerial.c b/flight/modules/MK/MKSerial/MKSerial.c
similarity index 100%
rename from flight/Modules/MK/MKSerial/MKSerial.c
rename to flight/modules/MK/MKSerial/MKSerial.c
diff --git a/flight/Modules/MK/MKSerial/inc/MkSerial.h b/flight/modules/MK/MKSerial/inc/MkSerial.h
similarity index 100%
rename from flight/Modules/MK/MKSerial/inc/MkSerial.h
rename to flight/modules/MK/MKSerial/inc/MkSerial.h
diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/modules/ManualControl/inc/manualcontrol.h
similarity index 100%
rename from flight/Modules/ManualControl/inc/manualcontrol.h
rename to flight/modules/ManualControl/inc/manualcontrol.h
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
similarity index 100%
rename from flight/Modules/ManualControl/manualcontrol.c
rename to flight/modules/ManualControl/manualcontrol.c
diff --git a/flight/Modules/OPLink/inc/oplinkmod.h b/flight/modules/OPLink/inc/oplinkmod.h
similarity index 100%
rename from flight/Modules/OPLink/inc/oplinkmod.h
rename to flight/modules/OPLink/inc/oplinkmod.h
diff --git a/flight/Modules/OPLink/oplinkmod.c b/flight/modules/OPLink/oplinkmod.c
similarity index 100%
rename from flight/Modules/OPLink/oplinkmod.c
rename to flight/modules/OPLink/oplinkmod.c
diff --git a/flight/Modules/Osd/OsdEtStd/OsdEtStd.c b/flight/modules/Osd/OsdEtStd/OsdEtStd.c
similarity index 100%
rename from flight/Modules/Osd/OsdEtStd/OsdEtStd.c
rename to flight/modules/Osd/OsdEtStd/OsdEtStd.c
diff --git a/flight/Modules/Osd/WavPlayer/inc/wavplayer.h b/flight/modules/Osd/WavPlayer/inc/wavplayer.h
similarity index 100%
rename from flight/Modules/Osd/WavPlayer/inc/wavplayer.h
rename to flight/modules/Osd/WavPlayer/inc/wavplayer.h
diff --git a/flight/Modules/Osd/WavPlayer/wavplayer.c b/flight/modules/Osd/WavPlayer/wavplayer.c
similarity index 100%
rename from flight/Modules/Osd/WavPlayer/wavplayer.c
rename to flight/modules/Osd/WavPlayer/wavplayer.c
diff --git a/flight/Modules/Osd/osdgen/inc/osdgen.h b/flight/modules/Osd/osdgen/inc/osdgen.h
similarity index 100%
rename from flight/Modules/Osd/osdgen/inc/osdgen.h
rename to flight/modules/Osd/osdgen/inc/osdgen.h
diff --git a/flight/Modules/Osd/osdgen/osdgen.c b/flight/modules/Osd/osdgen/osdgen.c
similarity index 100%
rename from flight/Modules/Osd/osdgen/osdgen.c
rename to flight/modules/Osd/osdgen/osdgen.c
diff --git a/flight/Modules/Osd/osdinput/inc/osdinput.h b/flight/modules/Osd/osdinput/inc/osdinput.h
similarity index 100%
rename from flight/Modules/Osd/osdinput/inc/osdinput.h
rename to flight/modules/Osd/osdinput/inc/osdinput.h
diff --git a/flight/Modules/Osd/osdinput/osdinput.c b/flight/modules/Osd/osdinput/osdinput.c
similarity index 100%
rename from flight/Modules/Osd/osdinput/osdinput.c
rename to flight/modules/Osd/osdinput/osdinput.c
diff --git a/flight/Modules/OveroSync/inc/overosync.h b/flight/modules/OveroSync/inc/overosync.h
similarity index 100%
rename from flight/Modules/OveroSync/inc/overosync.h
rename to flight/modules/OveroSync/inc/overosync.h
diff --git a/flight/Modules/OveroSync/overosync.c b/flight/modules/OveroSync/overosync.c
similarity index 100%
rename from flight/Modules/OveroSync/overosync.c
rename to flight/modules/OveroSync/overosync.c
diff --git a/flight/Modules/OveroSync/simulated/inc/overosync.h b/flight/modules/OveroSync/simulated/inc/overosync.h
similarity index 100%
rename from flight/Modules/OveroSync/simulated/inc/overosync.h
rename to flight/modules/OveroSync/simulated/inc/overosync.h
diff --git a/flight/Modules/OveroSync/simulated/overosync.c b/flight/modules/OveroSync/simulated/overosync.c
similarity index 100%
rename from flight/Modules/OveroSync/simulated/overosync.c
rename to flight/modules/OveroSync/simulated/overosync.c
diff --git a/flight/Modules/PathPlanner/inc/pathplanner.h b/flight/modules/PathPlanner/inc/pathplanner.h
similarity index 100%
rename from flight/Modules/PathPlanner/inc/pathplanner.h
rename to flight/modules/PathPlanner/inc/pathplanner.h
diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
similarity index 100%
rename from flight/Modules/PathPlanner/pathplanner.c
rename to flight/modules/PathPlanner/pathplanner.c
diff --git a/flight/Modules/RadioComBridge/RadioComBridge.c b/flight/modules/RadioComBridge/RadioComBridge.c
similarity index 100%
rename from flight/Modules/RadioComBridge/RadioComBridge.c
rename to flight/modules/RadioComBridge/RadioComBridge.c
diff --git a/flight/Modules/RadioComBridge/inc/radiocombridge.h b/flight/modules/RadioComBridge/inc/radiocombridge.h
similarity index 100%
rename from flight/Modules/RadioComBridge/inc/radiocombridge.h
rename to flight/modules/RadioComBridge/inc/radiocombridge.h
diff --git a/flight/Modules/Sensors/inc/sensors.h b/flight/modules/Sensors/inc/sensors.h
similarity index 100%
rename from flight/Modules/Sensors/inc/sensors.h
rename to flight/modules/Sensors/inc/sensors.h
diff --git a/flight/Modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
similarity index 100%
rename from flight/Modules/Sensors/sensors.c
rename to flight/modules/Sensors/sensors.c
diff --git a/flight/Modules/Sensors/simulated/inc/sensors.h b/flight/modules/Sensors/simulated/inc/sensors.h
similarity index 100%
rename from flight/Modules/Sensors/simulated/inc/sensors.h
rename to flight/modules/Sensors/simulated/inc/sensors.h
diff --git a/flight/Modules/Sensors/simulated/sensors.c b/flight/modules/Sensors/simulated/sensors.c
similarity index 100%
rename from flight/Modules/Sensors/simulated/sensors.c
rename to flight/modules/Sensors/simulated/sensors.c
diff --git a/flight/Modules/Stabilization/inc/relay_tuning.h b/flight/modules/Stabilization/inc/relay_tuning.h
similarity index 100%
rename from flight/Modules/Stabilization/inc/relay_tuning.h
rename to flight/modules/Stabilization/inc/relay_tuning.h
diff --git a/flight/Modules/Stabilization/inc/stabilization.h b/flight/modules/Stabilization/inc/stabilization.h
similarity index 100%
rename from flight/Modules/Stabilization/inc/stabilization.h
rename to flight/modules/Stabilization/inc/stabilization.h
diff --git a/flight/Modules/Stabilization/inc/virtualflybar.h b/flight/modules/Stabilization/inc/virtualflybar.h
similarity index 100%
rename from flight/Modules/Stabilization/inc/virtualflybar.h
rename to flight/modules/Stabilization/inc/virtualflybar.h
diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/modules/Stabilization/relay_tuning.c
similarity index 100%
rename from flight/Modules/Stabilization/relay_tuning.c
rename to flight/modules/Stabilization/relay_tuning.c
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
similarity index 100%
rename from flight/Modules/Stabilization/stabilization.c
rename to flight/modules/Stabilization/stabilization.c
diff --git a/flight/Modules/Stabilization/virtualflybar.c b/flight/modules/Stabilization/virtualflybar.c
similarity index 100%
rename from flight/Modules/Stabilization/virtualflybar.c
rename to flight/modules/Stabilization/virtualflybar.c
diff --git a/flight/Modules/System/inc/systemmod.h b/flight/modules/System/inc/systemmod.h
similarity index 100%
rename from flight/Modules/System/inc/systemmod.h
rename to flight/modules/System/inc/systemmod.h
diff --git a/flight/Modules/System/systemmod.c b/flight/modules/System/systemmod.c
similarity index 100%
rename from flight/Modules/System/systemmod.c
rename to flight/modules/System/systemmod.c
diff --git a/flight/Modules/Telemetry/inc/telemetry.h b/flight/modules/Telemetry/inc/telemetry.h
similarity index 100%
rename from flight/Modules/Telemetry/inc/telemetry.h
rename to flight/modules/Telemetry/inc/telemetry.h
diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/modules/Telemetry/telemetry.c
similarity index 100%
rename from flight/Modules/Telemetry/telemetry.c
rename to flight/modules/Telemetry/telemetry.c
diff --git a/flight/Modules/TxPID/inc/txpid.h b/flight/modules/TxPID/inc/txpid.h
similarity index 100%
rename from flight/Modules/TxPID/inc/txpid.h
rename to flight/modules/TxPID/inc/txpid.h
diff --git a/flight/Modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c
similarity index 100%
rename from flight/Modules/TxPID/txpid.c
rename to flight/modules/TxPID/txpid.c
diff --git a/flight/Modules/VtolPathFollower/inc/vtolpathfollower.h b/flight/modules/VtolPathFollower/inc/vtolpathfollower.h
similarity index 100%
rename from flight/Modules/VtolPathFollower/inc/vtolpathfollower.h
rename to flight/modules/VtolPathFollower/inc/vtolpathfollower.h
diff --git a/flight/Modules/VtolPathFollower/vtolpathfollower.c b/flight/modules/VtolPathFollower/vtolpathfollower.c
similarity index 100%
rename from flight/Modules/VtolPathFollower/vtolpathfollower.c
rename to flight/modules/VtolPathFollower/vtolpathfollower.c
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index 4f65bd58b..53c4ded4b 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -98,7 +98,7 @@ endif
 
 	
 # Optional component libraries
-include $(PIOS)/Common/Libraries/dosfs/library.mk
+include $(PIOS)/Common/libraries/dosfs/library.mk
 
 include $(ROOT_DIR)/make/apps-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/revolution/firmware/Makefile.osx b/flight/targets/boards/revolution/firmware/Makefile.osx
index 8dec4a2e5..41b5ab938 100644
--- a/flight/targets/boards/revolution/firmware/Makefile.osx
+++ b/flight/targets/boards/revolution/firmware/Makefile.osx
@@ -90,13 +90,13 @@ OPUAVTALKINC = $(OPUAVTALK)/inc
 OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 OPTESTS  = ./Tests
-OPMODULEDIR = ../Modules
-FLIGHTLIB = ../Libraries
+OPMODULEDIR = ../modules
+FLIGHTLIB = ../libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
 PIOS = ../PiOS.osx
 PIOSINC = $(PIOS)/inc
 PIOSPOSIX = $(PIOS)/osx
-APPLIBDIR = $(PIOSPOSIX)/Libraries
+APPLIBDIR = $(PIOSPOSIX)/libraries
 RTOSDIR = $(APPLIBDIR)/FreeRTOS
 RTOSSRCDIR = $(RTOSDIR)/Source
 RTOSINCDIR = $(RTOSSRCDIR)/include
diff --git a/flight/targets/boards/revoproto/firmware/Makefile.osx b/flight/targets/boards/revoproto/firmware/Makefile.osx
index cd1ed731c..6fdfecf98 100644
--- a/flight/targets/boards/revoproto/firmware/Makefile.osx
+++ b/flight/targets/boards/revoproto/firmware/Makefile.osx
@@ -94,15 +94,15 @@ OPUAVTALKINC = $(OPUAVTALK)/inc
 OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 OPTESTS  = ./Tests
-OPMODULEDIR = ../Modules
-FLIGHTLIB = ../Libraries
+OPMODULEDIR = ../modules
+FLIGHTLIB = ../libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
-MATHLIB = ../Libraries/math
+MATHLIB = ../libraries/math
 MATHLIBINC = ../Libraries/math
 PIOS = ../PiOS.osx
 PIOSINC = $(PIOS)/inc
 PIOSPOSIX = $(PIOS)/osx
-APPLIBDIR = $(PIOSPOSIX)/Libraries
+APPLIBDIR = $(PIOSPOSIX)/libraries
 RTOSDIR = $(APPLIBDIR)/FreeRTOS
 RTOSSRCDIR = $(RTOSDIR)/Source
 RTOSINCDIR = $(RTOSSRCDIR)/include
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index c6c8d4fa9..0466cd7ce 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -49,20 +49,20 @@ OPUAVTALKINC = $(OPUAVTALK)/inc
 OPUAVOBJ = ../../../../uavobjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 PIOSINC = $(PIOS)/inc
-OPMODULEDIR = ../../../../Modules
-FLIGHTLIB = ../../../../Libraries
+OPMODULEDIR = ../../../../modules
+FLIGHTLIB = ../../../../libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
 MATHLIB = $(FLIGHTLIB)/math
 MATHLIBINC = $(FLIGHTLIB)/math
 PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
-PIOSCOMMONLIB = $(PIOS)/Common/Libraries
+PIOSCOMMONLIB = $(PIOS)/Common/libraries
 BOOT = 
 BOOTINC = 
 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 # optional component libraries
-include $(PIOS)/Common/Libraries/FreeRTOS/library.mk
+include $(PIOS)/Common/libraries/FreeRTOS/library.mk
 include $(FLIGHTLIB)/PyMite/pymite.mk
 
 # List C source files here. (C dependencies are automatically generated.)
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 6423358d0..5de800972 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -38,7 +38,7 @@ MATHLIB		= $(FLIGHTLIB)/math
 MATHLIBINC	= $(FLIGHTLIB)/math
 
 ## FreeRTOS support
-FREERTOS_DIR	 = $(PIOSCOMMON)/Libraries/FreeRTOS
+FREERTOS_DIR	 = $(PIOSCOMMON)/libraries/FreeRTOS
 include $(FREERTOS_DIR)/library.mk
 
 ## Misc

From f20f89da35a8a3756e51b26704692c2432a9bd8a Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 00:38:56 +0300
Subject: [PATCH 121/125] Rename PiOS/Common->PiOS/common

---
 flight/PiOS/STM32F10x/library.mk                    |   2 +-
 .../{Common => common}/libraries/.no-auto-format    |   0
 .../CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf     | Bin
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c  |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c  |   0
 .../Source/BasicMathFunctions/arm_dot_prod_f32.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q15.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q31.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q7.c     |   0
 .../Source/BasicMathFunctions/arm_mult_f32.c        |   0
 .../Source/BasicMathFunctions/arm_mult_q15.c        |   0
 .../Source/BasicMathFunctions/arm_mult_q31.c        |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c |   0
 .../Source/BasicMathFunctions/arm_negate_f32.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q15.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q31.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q7.c       |   0
 .../Source/BasicMathFunctions/arm_offset_f32.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q15.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q31.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q7.c       |   0
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 make/apps-defs.mk                                   |   2 +-
 make/boot-defs.mk                                   |   2 +-
 1203 files changed, 8 insertions(+), 8 deletions(-)
 rename flight/PiOS/{Common => common}/libraries/.no-auto-format (100%)
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 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c (100%)
 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c (100%)
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 rename flight/PiOS/{Common => common}/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c (100%)
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 rename flight/PiOS/{Common => common}/pios_adxl345.c (100%)
 rename flight/PiOS/{Common => common}/pios_bma180.c (100%)
 rename flight/PiOS/{Common => common}/pios_bmp085.c (100%)
 rename flight/PiOS/{Common => common}/pios_board_info.c (100%)
 rename flight/PiOS/{Common => common}/pios_com.c (100%)
 rename flight/PiOS/{Common => common}/pios_com_msg.c (100%)
 rename flight/PiOS/{Common => common}/pios_crc.c (100%)
 rename flight/PiOS/{Common => common}/pios_etasv3.c (100%)
 rename flight/PiOS/{Common => common}/pios_flash_jedec.c (100%)
 rename flight/PiOS/{Common => common}/pios_flashfs_logfs.c (100%)
 rename flight/PiOS/{Common => common}/pios_gcsrcvr.c (100%)
 rename flight/PiOS/{Common => common}/pios_hcsr04.c (100%)
 rename flight/PiOS/{Common => common}/pios_hmc5843.c (100%)
 rename flight/PiOS/{Common => common}/pios_hmc5883.c (100%)
 rename flight/PiOS/{Common => common}/pios_i2c_esc.c (100%)
 rename flight/PiOS/{Common => common}/pios_iap.c (100%)
 rename flight/PiOS/{Common => common}/pios_l3gd20.c (100%)
 rename flight/PiOS/{Common => common}/pios_mpu6000.c (100%)
 rename flight/PiOS/{Common => common}/pios_mpxv.c (100%)
 rename flight/PiOS/{Common => common}/pios_ms5611.c (100%)
 rename flight/PiOS/{Common => common}/pios_rcvr.c (100%)
 rename flight/PiOS/{Common => common}/pios_rfm22b.c (100%)
 rename flight/PiOS/{Common => common}/pios_rfm22b_com.c (100%)
 rename flight/PiOS/{Common => common}/pios_rfm22b_rcvr.c (100%)
 rename flight/PiOS/{Common => common}/pios_sbus.c (100%)
 rename flight/PiOS/{Common => common}/pios_sdcard.c (100%)
 rename flight/PiOS/{Common => common}/pios_usb_desc_hid_cdc.c (100%)
 rename flight/PiOS/{Common => common}/pios_usb_desc_hid_only.c (100%)
 rename flight/PiOS/{Common => common}/pios_usb_util.c (100%)
 rename flight/PiOS/{Common => common}/pios_video.c (100%)
 rename flight/PiOS/{Common => common}/pios_wavplay.c (100%)

diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
index a87719d54..a0d28ec69 100644
--- a/flight/PiOS/STM32F10x/library.mk
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -21,7 +21,7 @@ ASRC			+= $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 
 # CMSIS for the F1
-include $(PIOS)/Common/libraries/CMSIS2/library.mk
+include $(PIOS)/common/libraries/CMSIS2/library.mk
 CMSIS_DIR		= $(PIOS_DEVLIB)libraries/CMSIS/Core/CM3
 SRC			+= $(CMSIS_DIR)/core_cm3.c
 SRC			+= $(CMSIS_DIR)/system_stm32f10x.c
diff --git a/flight/PiOS/Common/libraries/.no-auto-format b/flight/PiOS/common/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/Common/libraries/.no-auto-format
rename to flight/PiOS/common/libraries/.no-auto-format
diff --git a/flight/PiOS/Common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf b/flight/PiOS/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
rename to flight/PiOS/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
similarity index 100%
rename from flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
rename to flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
diff --git a/flight/PiOS/Common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
similarity index 100%
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rename from flight/PiOS/Common/libraries/FreeRTOS/Source/include/task.h
rename to flight/PiOS/common/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/include/timers.h b/flight/PiOS/common/libraries/FreeRTOS/Source/include/timers.h
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/include/timers.h
rename to flight/PiOS/common/libraries/FreeRTOS/Source/include/timers.h
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/list.c b/flight/PiOS/common/libraries/FreeRTOS/Source/list.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/list.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c b/flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/portable/MemMang/heap_4.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/common/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS/common/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/queue.c b/flight/PiOS/common/libraries/FreeRTOS/Source/queue.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/queue.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/common/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS/common/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/common/libraries/FreeRTOS/Source/tasks.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/tasks.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/tasks.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/Source/timers.c b/flight/PiOS/common/libraries/FreeRTOS/Source/timers.c
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/Source/timers.c
rename to flight/PiOS/common/libraries/FreeRTOS/Source/timers.c
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/howto_upgrade.txt b/flight/PiOS/common/libraries/FreeRTOS/howto_upgrade.txt
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/howto_upgrade.txt
rename to flight/PiOS/common/libraries/FreeRTOS/howto_upgrade.txt
diff --git a/flight/PiOS/Common/libraries/FreeRTOS/library.mk b/flight/PiOS/common/libraries/FreeRTOS/library.mk
similarity index 100%
rename from flight/PiOS/Common/libraries/FreeRTOS/library.mk
rename to flight/PiOS/common/libraries/FreeRTOS/library.mk
diff --git a/flight/PiOS/Common/libraries/dosfs/README.txt b/flight/PiOS/common/libraries/dosfs/README.txt
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/README.txt
rename to flight/PiOS/common/libraries/dosfs/README.txt
diff --git a/flight/PiOS/Common/libraries/dosfs/README_1st.txt b/flight/PiOS/common/libraries/dosfs/README_1st.txt
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/README_1st.txt
rename to flight/PiOS/common/libraries/dosfs/README_1st.txt
diff --git a/flight/PiOS/Common/libraries/dosfs/dfs_sdcard.c b/flight/PiOS/common/libraries/dosfs/dfs_sdcard.c
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/dfs_sdcard.c
rename to flight/PiOS/common/libraries/dosfs/dfs_sdcard.c
diff --git a/flight/PiOS/Common/libraries/dosfs/dosfs.c b/flight/PiOS/common/libraries/dosfs/dosfs.c
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/dosfs.c
rename to flight/PiOS/common/libraries/dosfs/dosfs.c
diff --git a/flight/PiOS/Common/libraries/dosfs/dosfs.h b/flight/PiOS/common/libraries/dosfs/dosfs.h
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/dosfs.h
rename to flight/PiOS/common/libraries/dosfs/dosfs.h
diff --git a/flight/PiOS/Common/libraries/dosfs/library.mk b/flight/PiOS/common/libraries/dosfs/library.mk
similarity index 100%
rename from flight/PiOS/Common/libraries/dosfs/library.mk
rename to flight/PiOS/common/libraries/dosfs/library.mk
diff --git a/flight/PiOS/Common/libraries/msheap/library.mk b/flight/PiOS/common/libraries/msheap/library.mk
similarity index 100%
rename from flight/PiOS/Common/libraries/msheap/library.mk
rename to flight/PiOS/common/libraries/msheap/library.mk
diff --git a/flight/PiOS/Common/libraries/msheap/msheap.c b/flight/PiOS/common/libraries/msheap/msheap.c
similarity index 100%
rename from flight/PiOS/Common/libraries/msheap/msheap.c
rename to flight/PiOS/common/libraries/msheap/msheap.c
diff --git a/flight/PiOS/Common/libraries/msheap/msheap.h b/flight/PiOS/common/libraries/msheap/msheap.h
similarity index 100%
rename from flight/PiOS/Common/libraries/msheap/msheap.h
rename to flight/PiOS/common/libraries/msheap/msheap.h
diff --git a/flight/PiOS/Common/libraries/msheap/pios_msheap.c b/flight/PiOS/common/libraries/msheap/pios_msheap.c
similarity index 100%
rename from flight/PiOS/Common/libraries/msheap/pios_msheap.c
rename to flight/PiOS/common/libraries/msheap/pios_msheap.c
diff --git a/flight/PiOS/Common/pios_adxl345.c b/flight/PiOS/common/pios_adxl345.c
similarity index 100%
rename from flight/PiOS/Common/pios_adxl345.c
rename to flight/PiOS/common/pios_adxl345.c
diff --git a/flight/PiOS/Common/pios_bma180.c b/flight/PiOS/common/pios_bma180.c
similarity index 100%
rename from flight/PiOS/Common/pios_bma180.c
rename to flight/PiOS/common/pios_bma180.c
diff --git a/flight/PiOS/Common/pios_bmp085.c b/flight/PiOS/common/pios_bmp085.c
similarity index 100%
rename from flight/PiOS/Common/pios_bmp085.c
rename to flight/PiOS/common/pios_bmp085.c
diff --git a/flight/PiOS/Common/pios_board_info.c b/flight/PiOS/common/pios_board_info.c
similarity index 100%
rename from flight/PiOS/Common/pios_board_info.c
rename to flight/PiOS/common/pios_board_info.c
diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/common/pios_com.c
similarity index 100%
rename from flight/PiOS/Common/pios_com.c
rename to flight/PiOS/common/pios_com.c
diff --git a/flight/PiOS/Common/pios_com_msg.c b/flight/PiOS/common/pios_com_msg.c
similarity index 100%
rename from flight/PiOS/Common/pios_com_msg.c
rename to flight/PiOS/common/pios_com_msg.c
diff --git a/flight/PiOS/Common/pios_crc.c b/flight/PiOS/common/pios_crc.c
similarity index 100%
rename from flight/PiOS/Common/pios_crc.c
rename to flight/PiOS/common/pios_crc.c
diff --git a/flight/PiOS/Common/pios_etasv3.c b/flight/PiOS/common/pios_etasv3.c
similarity index 100%
rename from flight/PiOS/Common/pios_etasv3.c
rename to flight/PiOS/common/pios_etasv3.c
diff --git a/flight/PiOS/Common/pios_flash_jedec.c b/flight/PiOS/common/pios_flash_jedec.c
similarity index 100%
rename from flight/PiOS/Common/pios_flash_jedec.c
rename to flight/PiOS/common/pios_flash_jedec.c
diff --git a/flight/PiOS/Common/pios_flashfs_logfs.c b/flight/PiOS/common/pios_flashfs_logfs.c
similarity index 100%
rename from flight/PiOS/Common/pios_flashfs_logfs.c
rename to flight/PiOS/common/pios_flashfs_logfs.c
diff --git a/flight/PiOS/Common/pios_gcsrcvr.c b/flight/PiOS/common/pios_gcsrcvr.c
similarity index 100%
rename from flight/PiOS/Common/pios_gcsrcvr.c
rename to flight/PiOS/common/pios_gcsrcvr.c
diff --git a/flight/PiOS/Common/pios_hcsr04.c b/flight/PiOS/common/pios_hcsr04.c
similarity index 100%
rename from flight/PiOS/Common/pios_hcsr04.c
rename to flight/PiOS/common/pios_hcsr04.c
diff --git a/flight/PiOS/Common/pios_hmc5843.c b/flight/PiOS/common/pios_hmc5843.c
similarity index 100%
rename from flight/PiOS/Common/pios_hmc5843.c
rename to flight/PiOS/common/pios_hmc5843.c
diff --git a/flight/PiOS/Common/pios_hmc5883.c b/flight/PiOS/common/pios_hmc5883.c
similarity index 100%
rename from flight/PiOS/Common/pios_hmc5883.c
rename to flight/PiOS/common/pios_hmc5883.c
diff --git a/flight/PiOS/Common/pios_i2c_esc.c b/flight/PiOS/common/pios_i2c_esc.c
similarity index 100%
rename from flight/PiOS/Common/pios_i2c_esc.c
rename to flight/PiOS/common/pios_i2c_esc.c
diff --git a/flight/PiOS/Common/pios_iap.c b/flight/PiOS/common/pios_iap.c
similarity index 100%
rename from flight/PiOS/Common/pios_iap.c
rename to flight/PiOS/common/pios_iap.c
diff --git a/flight/PiOS/Common/pios_l3gd20.c b/flight/PiOS/common/pios_l3gd20.c
similarity index 100%
rename from flight/PiOS/Common/pios_l3gd20.c
rename to flight/PiOS/common/pios_l3gd20.c
diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/common/pios_mpu6000.c
similarity index 100%
rename from flight/PiOS/Common/pios_mpu6000.c
rename to flight/PiOS/common/pios_mpu6000.c
diff --git a/flight/PiOS/Common/pios_mpxv.c b/flight/PiOS/common/pios_mpxv.c
similarity index 100%
rename from flight/PiOS/Common/pios_mpxv.c
rename to flight/PiOS/common/pios_mpxv.c
diff --git a/flight/PiOS/Common/pios_ms5611.c b/flight/PiOS/common/pios_ms5611.c
similarity index 100%
rename from flight/PiOS/Common/pios_ms5611.c
rename to flight/PiOS/common/pios_ms5611.c
diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/common/pios_rcvr.c
similarity index 100%
rename from flight/PiOS/Common/pios_rcvr.c
rename to flight/PiOS/common/pios_rcvr.c
diff --git a/flight/PiOS/Common/pios_rfm22b.c b/flight/PiOS/common/pios_rfm22b.c
similarity index 100%
rename from flight/PiOS/Common/pios_rfm22b.c
rename to flight/PiOS/common/pios_rfm22b.c
diff --git a/flight/PiOS/Common/pios_rfm22b_com.c b/flight/PiOS/common/pios_rfm22b_com.c
similarity index 100%
rename from flight/PiOS/Common/pios_rfm22b_com.c
rename to flight/PiOS/common/pios_rfm22b_com.c
diff --git a/flight/PiOS/Common/pios_rfm22b_rcvr.c b/flight/PiOS/common/pios_rfm22b_rcvr.c
similarity index 100%
rename from flight/PiOS/Common/pios_rfm22b_rcvr.c
rename to flight/PiOS/common/pios_rfm22b_rcvr.c
diff --git a/flight/PiOS/Common/pios_sbus.c b/flight/PiOS/common/pios_sbus.c
similarity index 100%
rename from flight/PiOS/Common/pios_sbus.c
rename to flight/PiOS/common/pios_sbus.c
diff --git a/flight/PiOS/Common/pios_sdcard.c b/flight/PiOS/common/pios_sdcard.c
similarity index 100%
rename from flight/PiOS/Common/pios_sdcard.c
rename to flight/PiOS/common/pios_sdcard.c
diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/common/pios_usb_desc_hid_cdc.c
similarity index 100%
rename from flight/PiOS/Common/pios_usb_desc_hid_cdc.c
rename to flight/PiOS/common/pios_usb_desc_hid_cdc.c
diff --git a/flight/PiOS/Common/pios_usb_desc_hid_only.c b/flight/PiOS/common/pios_usb_desc_hid_only.c
similarity index 100%
rename from flight/PiOS/Common/pios_usb_desc_hid_only.c
rename to flight/PiOS/common/pios_usb_desc_hid_only.c
diff --git a/flight/PiOS/Common/pios_usb_util.c b/flight/PiOS/common/pios_usb_util.c
similarity index 100%
rename from flight/PiOS/Common/pios_usb_util.c
rename to flight/PiOS/common/pios_usb_util.c
diff --git a/flight/PiOS/Common/pios_video.c b/flight/PiOS/common/pios_video.c
similarity index 100%
rename from flight/PiOS/Common/pios_video.c
rename to flight/PiOS/common/pios_video.c
diff --git a/flight/PiOS/Common/pios_wavplay.c b/flight/PiOS/common/pios_wavplay.c
similarity index 100%
rename from flight/PiOS/Common/pios_wavplay.c
rename to flight/PiOS/common/pios_wavplay.c
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index 53c4ded4b..11a11fffc 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -98,7 +98,7 @@ endif
 
 	
 # Optional component libraries
-include $(PIOS)/Common/libraries/dosfs/library.mk
+include $(PIOS)/common/libraries/dosfs/library.mk
 
 include $(ROOT_DIR)/make/apps-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile
index 0466cd7ce..9086033ef 100644
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@@ -56,13 +56,13 @@ MATHLIB = $(FLIGHTLIB)/math
 MATHLIBINC = $(FLIGHTLIB)/math
 PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
-PIOSCOMMONLIB = $(PIOS)/Common/libraries
+PIOSCOMMONLIB = $(PIOS)/common/libraries
 BOOT = 
 BOOTINC = 
 UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 
 # optional component libraries
-include $(PIOS)/Common/libraries/FreeRTOS/library.mk
+include $(PIOS)/common/libraries/FreeRTOS/library.mk
 include $(FLIGHTLIB)/PyMite/pymite.mk
 
 # List C source files here. (C dependencies are automatically generated.)
diff --git a/flight/targets/common/bootloader_updater/Makefile b/flight/targets/common/bootloader_updater/Makefile
index 4dfbb9a25..5f3e61cf2 100644
--- a/flight/targets/common/bootloader_updater/Makefile
+++ b/flight/targets/common/bootloader_updater/Makefile
@@ -31,7 +31,7 @@ TOPDIR		= .
 OPSYSTEM	= $(TOPDIR)
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
-PIOSCOMMON	= $(PIOS)/Common
+PIOSCOMMON	= $(PIOS)/common
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 HWDEFSINC	= ../../boards/$(BOARD_NAME)
 
diff --git a/flight/tests/logfs/Makefile b/flight/tests/logfs/Makefile
index dc939c067..3aabe0ed6 100644
--- a/flight/tests/logfs/Makefile
+++ b/flight/tests/logfs/Makefile
@@ -38,6 +38,6 @@ CFLAGS += "-DFLASH_IMAGE_FILE=\"$(OUTDIR)/theflash.bin\""
 
 CONLYFLAGS += -std=gnu99
 
-SRC := $(PIOS)/Common/pios_flashfs_logfs.c
+SRC := $(PIOS)/common/pios_flashfs_logfs.c
 
 include $(TOP)/make/unittest.mk
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 5de800972..b65ae6316 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -26,7 +26,7 @@ OPSYSTEM	= $(TOPDIR)
 BOARDINC	= $(TOPDIR)/..
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
-PIOSCOMMON	= $(PIOS)/Common
+PIOSCOMMON	= $(PIOS)/common
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 
 ## UAVTalk and UAVObject manager
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index d26cfabbc..428bfceea 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -26,7 +26,7 @@ OPSYSTEM	= $(TOPDIR)
 BOARDINC	= $(TOPDIR)/..
 OPSYSTEMINC	= $(OPSYSTEM)/inc
 PIOSINC		= $(PIOS)/inc
-PIOSCOMMON	= $(PIOS)/Common
+PIOSCOMMON	= $(PIOS)/common
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
 
 # ARM DSP library

From 25d0e8fcab83b0a1b094eb49b223fde9c5d1ca24 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 00:52:58 +0300
Subject: [PATCH 122/125] Rename PiOS/STM32F10x->PiOS/stm32f10x,
 PiOS/STM32F4xx->PiOS/stm32f4xx

---
 flight/PiOS/posix/library.mk                        |  10 +++++-----
 .../libraries/.no-auto-format                       |   0
 .../libraries/CMSIS/Core/CM3/core_cm3.c             |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_cl.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_hd.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_ld.s     |   0
 .../Core/CM3/startup/gcc/startup_stm32f10x_md.s     |   0
 .../libraries/CMSIS/Core/CM3/stm32f10x.h            |   0
 .../libraries/CMSIS/Core/CM3/system_stm32f10x.c     |   0
 .../libraries/CMSIS/Core/CM3/system_stm32f10x.h     |   0
 .../CMSIS/Core/Documentation/CMSIS_Core.htm         |   0
 .../libraries/CMSIS/License.doc                     | Bin
 .../FreeRTOS/Source/portable/GCC/ARM_CM3/port.c     |   0
 .../Source/portable/GCC/ARM_CM3/portmacro.h         |   0
 .../libraries/FreeRTOS/Source/portable/readme.txt   |   0
 .../libraries/FreeRTOS/Source/readme.txt            |   0
 .../libraries/STM32F10x_StdPeriph_Driver/inc/misc.h |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h  |   0
 .../inc/stm32f10x_dbgmcu.h                          |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h |   0
 .../inc/stm32f10x_flash.h                           |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h  |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h  |   0
 .../inc/stm32f10x_usart.h                           |   0
 .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h |   0
 .../libraries/STM32F10x_StdPeriph_Driver/src/misc.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c  |   0
 .../src/stm32f10x_dbgmcu.c                          |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c |   0
 .../src/stm32f10x_flash.c                           |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c  |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c  |   0
 .../src/stm32f10x_usart.c                           |   0
 .../STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_core.h       |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_def.h        |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_init.h       |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_int.h        |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_lib.h        |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_mem.h        |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_regs.h       |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_sil.h        |   0
 .../STM32_USB-FS-Device_Driver/inc/usb_type.h       |   0
 .../STM32_USB-FS-Device_Driver/src/usb_core.c       |   0
 .../STM32_USB-FS-Device_Driver/src/usb_init.c       |   0
 .../STM32_USB-FS-Device_Driver/src/usb_int.c        |   0
 .../STM32_USB-FS-Device_Driver/src/usb_mem.c        |   0
 .../STM32_USB-FS-Device_Driver/src/usb_regs.c       |   0
 .../STM32_USB-FS-Device_Driver/src/usb_sil.c        |   0
 .../{STM32F10x => stm32f10x}/libraries/msd/msd.c    |   0
 .../{STM32F10x => stm32f10x}/libraries/msd/msd.h    |   0
 .../libraries/msd/msd_bot.c                         |   0
 .../libraries/msd/msd_bot.h                         |   0
 .../libraries/msd/msd_desc.c                        |   0
 .../libraries/msd/msd_desc.h                        |   0
 .../libraries/msd/msd_memory.c                      |   0
 .../libraries/msd/msd_memory.h                      |   0
 .../libraries/msd/msd_scsi.c                        |   0
 .../libraries/msd/msd_scsi.h                        |   0
 .../libraries/msd/msd_scsi_data.c                   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/library.mk     |   0
 .../link_STM32103CB_CC_Rev1_BL_sections.ld          |   0
 .../link_STM32103CB_CC_Rev1_memory.ld               |   0
 .../link_STM32103CB_CC_Rev1_sections.ld             |   0
 .../link_STM32103CB_OPLINKMINI_BL_sections.ld       |   0
 .../link_STM32103CB_OPLINKMINI_memory.ld            |   0
 .../link_STM32103CB_OPLINKMINI_sections.ld          |   0
 .../link_STM3210E_OP_BL_sections.ld                 |   0
 .../link_STM3210E_OP_memory.ld                      |   0
 .../link_STM3210E_OP_sections.ld                    |   0
 .../{STM32F10x => stm32f10x}/link_stm32f10x_HD.ld   |   0
 .../{STM32F10x => stm32f10x}/link_stm32f10x_MD.ld   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_adc.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_bkp.c     |   0
 .../PiOS/{STM32F10x => stm32f10x}/pios_bl_helper.c  |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_debug.c   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_delay.c   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_dsm.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_eeprom.c  |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_exti.c    |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_gpio.c    |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_i2c.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_irq.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_led.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_ppm.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_ppm_out.c |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_pwm.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_rtc.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_servo.c   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_spi.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_sys.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_tim.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_usart.c   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_usb.c     |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_usb_cdc.c |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_usb_hid.c |   0
 .../{STM32F10x => stm32f10x}/pios_usb_hid_istr.c    |   0
 .../{STM32F10x => stm32f10x}/pios_usb_hid_pwr.c     |   0
 .../PiOS/{STM32F10x => stm32f10x}/pios_usb_rctx.c   |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_usbhook.c |   0
 flight/PiOS/{STM32F10x => stm32f10x}/pios_wdg.c     |   0
 .../{STM32F10x => stm32f10x}/startup_stm32f10x_HD.S |   0
 .../startup_stm32f10x_HD_OP.S                       |   0
 .../{STM32F10x => stm32f10x}/startup_stm32f10x_MD.S |   0
 .../startup_stm32f10x_MD_CC.S                       |   0
 .../startup_stm32f10x_MD_PX.S                       |   0
 .../{STM32F4xx => stm32f4xx}/inc/pios_i2c_config.h  |   0
 .../inc/pios_usart_config.h                         |   0
 .../{STM32F4xx => stm32f4xx}/inc/stm32f4xx_conf.h   |   0
 .../libraries/.no-auto-format                       |   0
 .../CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h  |   0
 .../Device/ST/STM32F4xx/Include/system_stm32f4xx.h  |   0
 .../ST/STM32F4xx/Source/osd/system_stm32f4xx.c      |   0
 .../STM32F4xx/Source/revolution/system_stm32f4xx.c  |   0
 .../STM32F4xx/Source/revoproto/system_stm32f4xx.c   |   0
 .../FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c    |   0
 .../Source/portable/GCC/ARM_CM4F/portmacro.h        |   0
 .../libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h  |   0
 .../inc/stm32f4xx_dbgmcu.h                          |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h |   0
 .../inc/stm32f4xx_flash.h                           |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h  |   0
 .../inc/stm32f4xx_syscfg.h                          |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h  |   0
 .../inc/stm32f4xx_usart.h                           |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h |   0
 .../libraries/STM32F4xx_StdPeriph_Driver/src/misc.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c |   0
 .../src/stm32f4xx_cryp_aes.c                        |   0
 .../src/stm32f4xx_cryp_des.c                        |   0
 .../src/stm32f4xx_cryp_tdes.c                       |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c  |   0
 .../src/stm32f4xx_dbgmcu.c                          |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c |   0
 .../src/stm32f4xx_flash.c                           |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c |   0
 .../src/stm32f4xx_hash_md5.c                        |   0
 .../src/stm32f4xx_hash_sha1.c                       |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c  |   0
 .../src/stm32f4xx_syscfg.c                          |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c  |   0
 .../src/stm32f4xx_usart.c                           |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_conf.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_core.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_def.h    |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_desc.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_ioreq.h  |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_req.h    |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_usr.h    |   0
 .../STM32_USB_Device_Library/Core/src/usbd_core.c   |   0
 .../STM32_USB_Device_Library/Core/src/usbd_ioreq.c  |   0
 .../STM32_USB_Device_Library/Core/src/usbd_req.c    |   0
 .../STM32_USB_Device_Library/Release_Notes.html     |   0
 .../STM32_USB_OTG_Driver/Release_Notes.html         |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h    |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_conf.h   |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_core.h   |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h    |   0
 .../STM32_USB_OTG_Driver/inc/usb_dcd_int.h          |   0
 .../STM32_USB_OTG_Driver/inc/usb_defines.h          |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h    |   0
 .../STM32_USB_OTG_Driver/inc/usb_hcd_int.h          |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_otg.h    |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_regs.h   |   0
 .../STM32_USB_OTG_Driver/src/usb_bsp_template.c     |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_core.c   |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_dcd.c    |   0
 .../STM32_USB_OTG_Driver/src/usb_dcd_int.c          |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_hcd.c    |   0
 .../STM32_USB_OTG_Driver/src/usb_hcd_int.c          |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_otg.c    |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/library.mk     |   8 ++++----
 .../link_stm32f4xx_bl_memory.ld}                    |   0
 .../link_stm32f4xx_fw_memory.ld}                    |   0
 .../link_stm32f4xx_sections.ld}                     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_adc.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_bkp.c     |   0
 .../PiOS/{STM32F4xx => stm32f4xx}/pios_bl_helper.c  |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_debug.c   |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_delay.c   |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_dsm.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_exti.c    |   0
 .../{STM32F4xx => stm32f4xx}/pios_flash_internal.c  |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_gpio.c    |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_i2c.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_irq.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_led.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_overo.c   |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_ppm.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_pwm.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_rtc.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_servo.c   |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_spi.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_sys.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_tim.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usart.c   |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb_cdc.c |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb_hid.c |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usbhook.c |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/pios_wdg.c     |   0
 flight/PiOS/{STM32F4xx => stm32f4xx}/startup.c      |   0
 .../{STM32F4xx => stm32f4xx}/vectors_stm32f4xx.c    |   0
 flight/targets/common/bootloader_updater/Makefile   |   2 +-
 make/apps-defs.mk                                   |   4 ++--
 make/boot-defs.mk                                   |   4 ++--
 make/common-defs.mk                                 |   2 +-
 267 files changed, 15 insertions(+), 15 deletions(-)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/.no-auto-format (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/core_cm3.c (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/stm32f10x.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/system_stm32f10x.c (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/CM3/system_stm32f10x.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/CMSIS/License.doc (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/FreeRTOS/Source/portable/readme.txt (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/FreeRTOS/Source/readme.txt (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/src/misc.c (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c (100%)
 rename flight/PiOS/{STM32F10x => stm32f10x}/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c (100%)
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 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_core.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/libraries/STM32_USB_OTG_Driver/src/usb_otg.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/library.mk (89%)
 rename flight/PiOS/{STM32F4xx/link_STM32F4xx_BL_memory.ld => stm32f4xx/link_stm32f4xx_bl_memory.ld} (100%)
 rename flight/PiOS/{STM32F4xx/link_STM32F4xx_OP_memory.ld => stm32f4xx/link_stm32f4xx_fw_memory.ld} (100%)
 rename flight/PiOS/{STM32F4xx/link_STM32F4xx_sections.ld => stm32f4xx/link_stm32f4xx_sections.ld} (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_adc.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_bkp.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_bl_helper.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_debug.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_delay.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_dsm.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_exti.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_flash_internal.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_gpio.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_i2c.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_irq.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_led.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_overo.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_ppm.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_pwm.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_rtc.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_servo.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_spi.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_sys.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_tim.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usart.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb_cdc.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usb_hid.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_usbhook.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/pios_wdg.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/startup.c (100%)
 rename flight/PiOS/{STM32F4xx => stm32f4xx}/vectors_stm32f4xx.c (100%)

diff --git a/flight/PiOS/posix/library.mk b/flight/PiOS/posix/library.mk
index 55d9d21aa..ed2e5394e 100644
--- a/flight/PiOS/posix/library.mk
+++ b/flight/PiOS/posix/library.mk
@@ -10,11 +10,11 @@ PIOS_DEVLIB			:=	$(dir $(lastword $(MAKEFILE_LIST)))
 #
 # Hardcoded linker script names for now
 #
-#LINKER_SCRIPTS_APP	 =	$(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
-						$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
+#LINKER_SCRIPTS_APP	 =	$(PIOS_DEVLIB)/link_stm32f4xx_OP_memory.ld \
+						$(PIOS_DEVLIB)/link_stm32f4xx_sections.ld
 
-#LINKER_SCRIPTS_BL	 =	$(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
-						$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
+#LINKER_SCRIPTS_BL	 =	$(PIOS_DEVLIB)/link_stm32f4xx_BL_memory.ld \
+						$(PIOS_DEVLIB)/link_stm32f4xx_sections.ld
 
 #
 # Compiler options implied by the F4xx
@@ -41,7 +41,7 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 #
 # ST Peripheral library
 #
-#PERIPHLIB			 =	$(PIOS_DEVLIB)/libraries/STM32F4xx_StdPeriph_Driver
+#PERIPHLIB			 =	$(PIOS_DEVLIB)/libraries/stm32f4xx_StdPeriph_Driver
 #SRC					+=	$(wildcard $(PERIPHLIB)/src/*.c)
 #EXTRAINCDIRS		+=	$(PERIPHLIB)/inc
 
diff --git a/flight/PiOS/STM32F10x/libraries/.no-auto-format b/flight/PiOS/stm32f10x/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/.no-auto-format
rename to flight/PiOS/stm32f10x/libraries/.no-auto-format
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/core_cm3.c b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/core_cm3.c
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/stm32f10x.h b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/stm32f10x.h
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm b/flight/PiOS/stm32f10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
rename to flight/PiOS/stm32f10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
diff --git a/flight/PiOS/STM32F10x/libraries/CMSIS/License.doc b/flight/PiOS/stm32f10x/libraries/CMSIS/License.doc
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/CMSIS/License.doc
rename to flight/PiOS/stm32f10x/libraries/CMSIS/License.doc
diff --git a/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
rename to flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
diff --git a/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
rename to flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
diff --git a/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/readme.txt b/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/readme.txt b/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/FreeRTOS/Source/readme.txt
rename to flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c b/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
rename to flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
diff --git a/flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c b/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
rename to flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd.c b/flight/PiOS/stm32f10x/libraries/msd/msd.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd.h b/flight/PiOS/stm32f10x/libraries/msd/msd.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd.h
rename to flight/PiOS/stm32f10x/libraries/msd/msd.h
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_bot.c b/flight/PiOS/stm32f10x/libraries/msd/msd_bot.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_bot.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd_bot.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_bot.h b/flight/PiOS/stm32f10x/libraries/msd/msd_bot.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_bot.h
rename to flight/PiOS/stm32f10x/libraries/msd/msd_bot.h
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_desc.c b/flight/PiOS/stm32f10x/libraries/msd/msd_desc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_desc.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd_desc.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_desc.h b/flight/PiOS/stm32f10x/libraries/msd/msd_desc.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_desc.h
rename to flight/PiOS/stm32f10x/libraries/msd/msd_desc.h
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_memory.c b/flight/PiOS/stm32f10x/libraries/msd/msd_memory.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_memory.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd_memory.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_memory.h b/flight/PiOS/stm32f10x/libraries/msd/msd_memory.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_memory.h
rename to flight/PiOS/stm32f10x/libraries/msd/msd_memory.h
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_scsi.c b/flight/PiOS/stm32f10x/libraries/msd/msd_scsi.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_scsi.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd_scsi.c
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_scsi.h b/flight/PiOS/stm32f10x/libraries/msd/msd_scsi.h
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_scsi.h
rename to flight/PiOS/stm32f10x/libraries/msd/msd_scsi.h
diff --git a/flight/PiOS/STM32F10x/libraries/msd/msd_scsi_data.c b/flight/PiOS/stm32f10x/libraries/msd/msd_scsi_data.c
similarity index 100%
rename from flight/PiOS/STM32F10x/libraries/msd/msd_scsi_data.c
rename to flight/PiOS/stm32f10x/libraries/msd/msd_scsi_data.c
diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/stm32f10x/library.mk
similarity index 100%
rename from flight/PiOS/STM32F10x/library.mk
rename to flight/PiOS/stm32f10x/library.mk
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld b/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld b/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_BL_sections.ld b/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_memory.ld b/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_memory.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_sections.ld b/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM32103CB_OPLINKMINI_sections.ld
rename to flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld b/flight/PiOS/stm32f10x/link_STM3210E_OP_BL_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
rename to flight/PiOS/stm32f10x/link_STM3210E_OP_BL_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_memory.ld b/flight/PiOS/stm32f10x/link_STM3210E_OP_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM3210E_OP_memory.ld
rename to flight/PiOS/stm32f10x/link_STM3210E_OP_memory.ld
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/stm32f10x/link_STM3210E_OP_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
rename to flight/PiOS/stm32f10x/link_STM3210E_OP_sections.ld
diff --git a/flight/PiOS/STM32F10x/link_stm32f10x_HD.ld b/flight/PiOS/stm32f10x/link_stm32f10x_HD.ld
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rename from flight/PiOS/STM32F10x/link_stm32f10x_HD.ld
rename to flight/PiOS/stm32f10x/link_stm32f10x_HD.ld
diff --git a/flight/PiOS/STM32F10x/link_stm32f10x_MD.ld b/flight/PiOS/stm32f10x/link_stm32f10x_MD.ld
similarity index 100%
rename from flight/PiOS/STM32F10x/link_stm32f10x_MD.ld
rename to flight/PiOS/stm32f10x/link_stm32f10x_MD.ld
diff --git a/flight/PiOS/STM32F10x/pios_adc.c b/flight/PiOS/stm32f10x/pios_adc.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_adc.c
rename to flight/PiOS/stm32f10x/pios_adc.c
diff --git a/flight/PiOS/STM32F10x/pios_bkp.c b/flight/PiOS/stm32f10x/pios_bkp.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_bkp.c
rename to flight/PiOS/stm32f10x/pios_bkp.c
diff --git a/flight/PiOS/STM32F10x/pios_bl_helper.c b/flight/PiOS/stm32f10x/pios_bl_helper.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_bl_helper.c
rename to flight/PiOS/stm32f10x/pios_bl_helper.c
diff --git a/flight/PiOS/STM32F10x/pios_debug.c b/flight/PiOS/stm32f10x/pios_debug.c
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rename from flight/PiOS/STM32F10x/pios_debug.c
rename to flight/PiOS/stm32f10x/pios_debug.c
diff --git a/flight/PiOS/STM32F10x/pios_delay.c b/flight/PiOS/stm32f10x/pios_delay.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_delay.c
rename to flight/PiOS/stm32f10x/pios_delay.c
diff --git a/flight/PiOS/STM32F10x/pios_dsm.c b/flight/PiOS/stm32f10x/pios_dsm.c
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rename from flight/PiOS/STM32F10x/pios_dsm.c
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diff --git a/flight/PiOS/STM32F10x/pios_eeprom.c b/flight/PiOS/stm32f10x/pios_eeprom.c
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rename from flight/PiOS/STM32F10x/pios_eeprom.c
rename to flight/PiOS/stm32f10x/pios_eeprom.c
diff --git a/flight/PiOS/STM32F10x/pios_exti.c b/flight/PiOS/stm32f10x/pios_exti.c
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rename from flight/PiOS/STM32F10x/pios_exti.c
rename to flight/PiOS/stm32f10x/pios_exti.c
diff --git a/flight/PiOS/STM32F10x/pios_gpio.c b/flight/PiOS/stm32f10x/pios_gpio.c
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rename from flight/PiOS/STM32F10x/pios_gpio.c
rename to flight/PiOS/stm32f10x/pios_gpio.c
diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/stm32f10x/pios_i2c.c
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rename from flight/PiOS/STM32F10x/pios_i2c.c
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diff --git a/flight/PiOS/STM32F10x/pios_irq.c b/flight/PiOS/stm32f10x/pios_irq.c
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rename from flight/PiOS/STM32F10x/pios_irq.c
rename to flight/PiOS/stm32f10x/pios_irq.c
diff --git a/flight/PiOS/STM32F10x/pios_led.c b/flight/PiOS/stm32f10x/pios_led.c
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rename from flight/PiOS/STM32F10x/pios_led.c
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diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/stm32f10x/pios_ppm.c
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rename from flight/PiOS/STM32F10x/pios_ppm.c
rename to flight/PiOS/stm32f10x/pios_ppm.c
diff --git a/flight/PiOS/STM32F10x/pios_ppm_out.c b/flight/PiOS/stm32f10x/pios_ppm_out.c
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rename from flight/PiOS/STM32F10x/pios_ppm_out.c
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diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/stm32f10x/pios_pwm.c
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diff --git a/flight/PiOS/STM32F10x/pios_rtc.c b/flight/PiOS/stm32f10x/pios_rtc.c
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diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/stm32f10x/pios_servo.c
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diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/stm32f10x/pios_spi.c
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diff --git a/flight/PiOS/STM32F10x/pios_sys.c b/flight/PiOS/stm32f10x/pios_sys.c
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diff --git a/flight/PiOS/STM32F10x/pios_tim.c b/flight/PiOS/stm32f10x/pios_tim.c
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rename from flight/PiOS/STM32F10x/pios_tim.c
rename to flight/PiOS/stm32f10x/pios_tim.c
diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/stm32f10x/pios_usart.c
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rename from flight/PiOS/STM32F10x/pios_usart.c
rename to flight/PiOS/stm32f10x/pios_usart.c
diff --git a/flight/PiOS/STM32F10x/pios_usb.c b/flight/PiOS/stm32f10x/pios_usb.c
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rename from flight/PiOS/STM32F10x/pios_usb.c
rename to flight/PiOS/stm32f10x/pios_usb.c
diff --git a/flight/PiOS/STM32F10x/pios_usb_cdc.c b/flight/PiOS/stm32f10x/pios_usb_cdc.c
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rename from flight/PiOS/STM32F10x/pios_usb_cdc.c
rename to flight/PiOS/stm32f10x/pios_usb_cdc.c
diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/stm32f10x/pios_usb_hid.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_usb_hid.c
rename to flight/PiOS/stm32f10x/pios_usb_hid.c
diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_istr.c b/flight/PiOS/stm32f10x/pios_usb_hid_istr.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_usb_hid_istr.c
rename to flight/PiOS/stm32f10x/pios_usb_hid_istr.c
diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_pwr.c b/flight/PiOS/stm32f10x/pios_usb_hid_pwr.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_usb_hid_pwr.c
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diff --git a/flight/PiOS/STM32F10x/pios_usb_rctx.c b/flight/PiOS/stm32f10x/pios_usb_rctx.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_usb_rctx.c
rename to flight/PiOS/stm32f10x/pios_usb_rctx.c
diff --git a/flight/PiOS/STM32F10x/pios_usbhook.c b/flight/PiOS/stm32f10x/pios_usbhook.c
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rename from flight/PiOS/STM32F10x/pios_usbhook.c
rename to flight/PiOS/stm32f10x/pios_usbhook.c
diff --git a/flight/PiOS/STM32F10x/pios_wdg.c b/flight/PiOS/stm32f10x/pios_wdg.c
similarity index 100%
rename from flight/PiOS/STM32F10x/pios_wdg.c
rename to flight/PiOS/stm32f10x/pios_wdg.c
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD.S b/flight/PiOS/stm32f10x/startup_stm32f10x_HD.S
similarity index 100%
rename from flight/PiOS/STM32F10x/startup_stm32f10x_HD.S
rename to flight/PiOS/stm32f10x/startup_stm32f10x_HD.S
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/stm32f10x/startup_stm32f10x_HD_OP.S
similarity index 100%
rename from flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
rename to flight/PiOS/stm32f10x/startup_stm32f10x_HD_OP.S
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD.S b/flight/PiOS/stm32f10x/startup_stm32f10x_MD.S
similarity index 100%
rename from flight/PiOS/STM32F10x/startup_stm32f10x_MD.S
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diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/stm32f10x/startup_stm32f10x_MD_CC.S
similarity index 100%
rename from flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
rename to flight/PiOS/stm32f10x/startup_stm32f10x_MD_CC.S
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_PX.S b/flight/PiOS/stm32f10x/startup_stm32f10x_MD_PX.S
similarity index 100%
rename from flight/PiOS/STM32F10x/startup_stm32f10x_MD_PX.S
rename to flight/PiOS/stm32f10x/startup_stm32f10x_MD_PX.S
diff --git a/flight/PiOS/STM32F4xx/inc/pios_i2c_config.h b/flight/PiOS/stm32f4xx/inc/pios_i2c_config.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/inc/pios_i2c_config.h
rename to flight/PiOS/stm32f4xx/inc/pios_i2c_config.h
diff --git a/flight/PiOS/STM32F4xx/inc/pios_usart_config.h b/flight/PiOS/stm32f4xx/inc/pios_usart_config.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/inc/pios_usart_config.h
rename to flight/PiOS/stm32f4xx/inc/pios_usart_config.h
diff --git a/flight/PiOS/STM32F4xx/inc/stm32f4xx_conf.h b/flight/PiOS/stm32f4xx/inc/stm32f4xx_conf.h
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rename from flight/PiOS/STM32F4xx/inc/stm32f4xx_conf.h
rename to flight/PiOS/stm32f4xx/inc/stm32f4xx_conf.h
diff --git a/flight/PiOS/STM32F4xx/libraries/.no-auto-format b/flight/PiOS/stm32f4xx/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/.no-auto-format
rename to flight/PiOS/stm32f4xx/libraries/.no-auto-format
diff --git a/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h b/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
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rename from flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
rename to flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
diff --git a/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h b/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
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rename from flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
rename to flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
diff --git a/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c b/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
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rename from flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
rename to flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c b/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
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rename from flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
rename to flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c b/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
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rename to flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
diff --git a/flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
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rename from flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
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diff --git a/flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
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rename from flight/PiOS/STM32F4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
rename to flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
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rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
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rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
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rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
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rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
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rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
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rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c b/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
rename to flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Release_Notes.html b/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
diff --git a/flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c b/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
rename to flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
diff --git a/flight/PiOS/STM32F4xx/library.mk b/flight/PiOS/stm32f4xx/library.mk
similarity index 89%
rename from flight/PiOS/STM32F4xx/library.mk
rename to flight/PiOS/stm32f4xx/library.mk
index 058e9ae5d..231ee1561 100644
--- a/flight/PiOS/STM32F4xx/library.mk
+++ b/flight/PiOS/stm32f4xx/library.mk
@@ -6,10 +6,10 @@
 PIOS_DEVLIB		:= $(dir $(lastword $(MAKEFILE_LIST)))
 
 # Hardcoded linker script names for now
-LINKER_SCRIPTS_APP	=  $(PIOS_DEVLIB)link_STM32F4xx_OP_memory.ld \
-			   $(PIOS_DEVLIB)link_STM32F4xx_sections.ld
-LINKER_SCRIPTS_BL	=  $(PIOS_DEVLIB)link_STM32F4xx_BL_memory.ld \
-			   $(PIOS_DEVLIB)link_STM32F4xx_sections.ld
+LINKER_SCRIPTS_APP	=  $(PIOS_DEVLIB)link_stm32f4xx_fw_memory.ld \
+			   $(PIOS_DEVLIB)link_stm32f4xx_sections.ld
+LINKER_SCRIPTS_BL	=  $(PIOS_DEVLIB)link_stm32f4xx_bl_memory.ld \
+			   $(PIOS_DEVLIB)link_stm32f4xx_sections.ld
 
 # Compiler options implied by the F4xx
 CDEFS			+= -DSTM32F4XX
diff --git a/flight/PiOS/STM32F4xx/link_STM32F4xx_BL_memory.ld b/flight/PiOS/stm32f4xx/link_stm32f4xx_bl_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F4xx/link_STM32F4xx_BL_memory.ld
rename to flight/PiOS/stm32f4xx/link_stm32f4xx_bl_memory.ld
diff --git a/flight/PiOS/STM32F4xx/link_STM32F4xx_OP_memory.ld b/flight/PiOS/stm32f4xx/link_stm32f4xx_fw_memory.ld
similarity index 100%
rename from flight/PiOS/STM32F4xx/link_STM32F4xx_OP_memory.ld
rename to flight/PiOS/stm32f4xx/link_stm32f4xx_fw_memory.ld
diff --git a/flight/PiOS/STM32F4xx/link_STM32F4xx_sections.ld b/flight/PiOS/stm32f4xx/link_stm32f4xx_sections.ld
similarity index 100%
rename from flight/PiOS/STM32F4xx/link_STM32F4xx_sections.ld
rename to flight/PiOS/stm32f4xx/link_stm32f4xx_sections.ld
diff --git a/flight/PiOS/STM32F4xx/pios_adc.c b/flight/PiOS/stm32f4xx/pios_adc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_adc.c
rename to flight/PiOS/stm32f4xx/pios_adc.c
diff --git a/flight/PiOS/STM32F4xx/pios_bkp.c b/flight/PiOS/stm32f4xx/pios_bkp.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_bkp.c
rename to flight/PiOS/stm32f4xx/pios_bkp.c
diff --git a/flight/PiOS/STM32F4xx/pios_bl_helper.c b/flight/PiOS/stm32f4xx/pios_bl_helper.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_bl_helper.c
rename to flight/PiOS/stm32f4xx/pios_bl_helper.c
diff --git a/flight/PiOS/STM32F4xx/pios_debug.c b/flight/PiOS/stm32f4xx/pios_debug.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_debug.c
rename to flight/PiOS/stm32f4xx/pios_debug.c
diff --git a/flight/PiOS/STM32F4xx/pios_delay.c b/flight/PiOS/stm32f4xx/pios_delay.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_delay.c
rename to flight/PiOS/stm32f4xx/pios_delay.c
diff --git a/flight/PiOS/STM32F4xx/pios_dsm.c b/flight/PiOS/stm32f4xx/pios_dsm.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_dsm.c
rename to flight/PiOS/stm32f4xx/pios_dsm.c
diff --git a/flight/PiOS/STM32F4xx/pios_exti.c b/flight/PiOS/stm32f4xx/pios_exti.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_exti.c
rename to flight/PiOS/stm32f4xx/pios_exti.c
diff --git a/flight/PiOS/STM32F4xx/pios_flash_internal.c b/flight/PiOS/stm32f4xx/pios_flash_internal.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_flash_internal.c
rename to flight/PiOS/stm32f4xx/pios_flash_internal.c
diff --git a/flight/PiOS/STM32F4xx/pios_gpio.c b/flight/PiOS/stm32f4xx/pios_gpio.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_gpio.c
rename to flight/PiOS/stm32f4xx/pios_gpio.c
diff --git a/flight/PiOS/STM32F4xx/pios_i2c.c b/flight/PiOS/stm32f4xx/pios_i2c.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_i2c.c
rename to flight/PiOS/stm32f4xx/pios_i2c.c
diff --git a/flight/PiOS/STM32F4xx/pios_irq.c b/flight/PiOS/stm32f4xx/pios_irq.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_irq.c
rename to flight/PiOS/stm32f4xx/pios_irq.c
diff --git a/flight/PiOS/STM32F4xx/pios_led.c b/flight/PiOS/stm32f4xx/pios_led.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_led.c
rename to flight/PiOS/stm32f4xx/pios_led.c
diff --git a/flight/PiOS/STM32F4xx/pios_overo.c b/flight/PiOS/stm32f4xx/pios_overo.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_overo.c
rename to flight/PiOS/stm32f4xx/pios_overo.c
diff --git a/flight/PiOS/STM32F4xx/pios_ppm.c b/flight/PiOS/stm32f4xx/pios_ppm.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_ppm.c
rename to flight/PiOS/stm32f4xx/pios_ppm.c
diff --git a/flight/PiOS/STM32F4xx/pios_pwm.c b/flight/PiOS/stm32f4xx/pios_pwm.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_pwm.c
rename to flight/PiOS/stm32f4xx/pios_pwm.c
diff --git a/flight/PiOS/STM32F4xx/pios_rtc.c b/flight/PiOS/stm32f4xx/pios_rtc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_rtc.c
rename to flight/PiOS/stm32f4xx/pios_rtc.c
diff --git a/flight/PiOS/STM32F4xx/pios_servo.c b/flight/PiOS/stm32f4xx/pios_servo.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_servo.c
rename to flight/PiOS/stm32f4xx/pios_servo.c
diff --git a/flight/PiOS/STM32F4xx/pios_spi.c b/flight/PiOS/stm32f4xx/pios_spi.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_spi.c
rename to flight/PiOS/stm32f4xx/pios_spi.c
diff --git a/flight/PiOS/STM32F4xx/pios_sys.c b/flight/PiOS/stm32f4xx/pios_sys.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_sys.c
rename to flight/PiOS/stm32f4xx/pios_sys.c
diff --git a/flight/PiOS/STM32F4xx/pios_tim.c b/flight/PiOS/stm32f4xx/pios_tim.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_tim.c
rename to flight/PiOS/stm32f4xx/pios_tim.c
diff --git a/flight/PiOS/STM32F4xx/pios_usart.c b/flight/PiOS/stm32f4xx/pios_usart.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_usart.c
rename to flight/PiOS/stm32f4xx/pios_usart.c
diff --git a/flight/PiOS/STM32F4xx/pios_usb.c b/flight/PiOS/stm32f4xx/pios_usb.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_usb.c
rename to flight/PiOS/stm32f4xx/pios_usb.c
diff --git a/flight/PiOS/STM32F4xx/pios_usb_cdc.c b/flight/PiOS/stm32f4xx/pios_usb_cdc.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_usb_cdc.c
rename to flight/PiOS/stm32f4xx/pios_usb_cdc.c
diff --git a/flight/PiOS/STM32F4xx/pios_usb_hid.c b/flight/PiOS/stm32f4xx/pios_usb_hid.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_usb_hid.c
rename to flight/PiOS/stm32f4xx/pios_usb_hid.c
diff --git a/flight/PiOS/STM32F4xx/pios_usbhook.c b/flight/PiOS/stm32f4xx/pios_usbhook.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_usbhook.c
rename to flight/PiOS/stm32f4xx/pios_usbhook.c
diff --git a/flight/PiOS/STM32F4xx/pios_wdg.c b/flight/PiOS/stm32f4xx/pios_wdg.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/pios_wdg.c
rename to flight/PiOS/stm32f4xx/pios_wdg.c
diff --git a/flight/PiOS/STM32F4xx/startup.c b/flight/PiOS/stm32f4xx/startup.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/startup.c
rename to flight/PiOS/stm32f4xx/startup.c
diff --git a/flight/PiOS/STM32F4xx/vectors_stm32f4xx.c b/flight/PiOS/stm32f4xx/vectors_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/STM32F4xx/vectors_stm32f4xx.c
rename to flight/PiOS/stm32f4xx/vectors_stm32f4xx.c
diff --git a/flight/targets/common/bootloader_updater/Makefile b/flight/targets/common/bootloader_updater/Makefile
index 5f3e61cf2..c16e9c2e5 100644
--- a/flight/targets/common/bootloader_updater/Makefile
+++ b/flight/targets/common/bootloader_updater/Makefile
@@ -42,7 +42,7 @@ SRC += $(OPSYSTEM)/pios_board.c
 
 ## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
-    include $(PIOS)/STM32F10x/library.mk
+    include $(PIOS)/stm32f10x/library.mk
 
     # Set linker-script name depending on selected submodel name
     LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index b65ae6316..59b22ce1c 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -46,9 +46,9 @@ OPTESTS		= $(TOPDIR)/Tests
 
 ## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
-    include $(PIOS)/STM32F10x/library.mk
+    include $(PIOS)/stm32f10x/library.mk
 else ifeq ($(MCU),cortex-m4)
-    include $(PIOS)/STM32F4xx/library.mk
+    include $(PIOS)/stm32f4xx/library.mk
 else
     $(error Unsupported MCU: $(MCU))
 endif
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index 428bfceea..3ddb445c7 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -34,9 +34,9 @@ override USE_DSP_LIB := NO
 
 ## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
-    include $(PIOS)/STM32F10x/library.mk
+    include $(PIOS)/stm32f10x/library.mk
 else ifeq ($(MCU),cortex-m4)
-    include $(PIOS)/STM32F4xx/library.mk
+    include $(PIOS)/stm32f4xx/library.mk
 else
     $(error Unsupported MCU: $(MCU))
 endif
diff --git a/make/common-defs.mk b/make/common-defs.mk
index a152b01d7..0e2addebf 100644
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@@ -122,7 +122,7 @@ CFLAGS += -Wall
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 
-# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
+# FIXME: stm32f4xx library raises strict aliasing and const qualifier warnings
 ifneq ($(MCU),cortex-m4)
     CFLAGS += -Werror
 endif

From b6e1331e5d6a3c2cd3158a4301c7d9fcdd02ae56 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 01:01:19 +0300
Subject: [PATCH 123/125] Rename flight/PiOS->flight/pios

---
 Makefile                                            |   2 +-
 .../{PiOS => pios}/common/libraries/.no-auto-format |   0
 .../CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf     | Bin
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c  |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c  |   0
 .../Source/BasicMathFunctions/arm_dot_prod_f32.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q15.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q31.c    |   0
 .../Source/BasicMathFunctions/arm_dot_prod_q7.c     |   0
 .../Source/BasicMathFunctions/arm_mult_f32.c        |   0
 .../Source/BasicMathFunctions/arm_mult_q15.c        |   0
 .../Source/BasicMathFunctions/arm_mult_q31.c        |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c |   0
 .../Source/BasicMathFunctions/arm_negate_f32.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q15.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q31.c      |   0
 .../Source/BasicMathFunctions/arm_negate_q7.c       |   0
 .../Source/BasicMathFunctions/arm_offset_f32.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q15.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q31.c      |   0
 .../Source/BasicMathFunctions/arm_offset_q7.c       |   0
 .../Source/BasicMathFunctions/arm_scale_f32.c       |   0
 .../Source/BasicMathFunctions/arm_scale_q15.c       |   0
 .../Source/BasicMathFunctions/arm_scale_q31.c       |   0
 .../Source/BasicMathFunctions/arm_scale_q7.c        |   0
 .../Source/BasicMathFunctions/arm_shift_q15.c       |   0
 .../Source/BasicMathFunctions/arm_shift_q31.c       |   0
 .../Source/BasicMathFunctions/arm_shift_q7.c        |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c |   0
 .../DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c  |   0
 .../DSP_Lib/Source/CommonTables/arm_common_tables.c |   0
 .../ComplexMathFunctions/arm_cmplx_conj_f32.c       |   0
 .../ComplexMathFunctions/arm_cmplx_conj_q15.c       |   0
 .../ComplexMathFunctions/arm_cmplx_conj_q31.c       |   0
 .../ComplexMathFunctions/arm_cmplx_dot_prod_f32.c   |   0
 .../ComplexMathFunctions/arm_cmplx_dot_prod_q15.c   |   0
 .../ComplexMathFunctions/arm_cmplx_dot_prod_q31.c   |   0
 .../Source/ComplexMathFunctions/arm_cmplx_mag_f32.c |   0
 .../Source/ComplexMathFunctions/arm_cmplx_mag_q15.c |   0
 .../Source/ComplexMathFunctions/arm_cmplx_mag_q31.c |   0
 .../arm_cmplx_mag_squared_f32.c                     |   0
 .../arm_cmplx_mag_squared_q15.c                     |   0
 .../arm_cmplx_mag_squared_q31.c                     |   0
 .../ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c |   0
 .../ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c |   0
 .../ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c |   0
 .../ComplexMathFunctions/arm_cmplx_mult_real_f32.c  |   0
 .../ComplexMathFunctions/arm_cmplx_mult_real_q15.c  |   0
 .../ComplexMathFunctions/arm_cmplx_mult_real_q31.c  |   0
 .../Source/ControllerFunctions/arm_pid_init_f32.c   |   0
 .../Source/ControllerFunctions/arm_pid_init_q15.c   |   0
 .../Source/ControllerFunctions/arm_pid_init_q31.c   |   0
 .../Source/ControllerFunctions/arm_pid_reset_f32.c  |   0
 .../Source/ControllerFunctions/arm_pid_reset_q15.c  |   0
 .../Source/ControllerFunctions/arm_pid_reset_q31.c  |   0
 .../Source/ControllerFunctions/arm_sin_cos_f32.c    |   0
 .../Source/ControllerFunctions/arm_sin_cos_q31.c    |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c  |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c |   0
 .../DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c |   0
 .../arm_biquad_cascade_df1_32x64_init_q31.c         |   0
 .../arm_biquad_cascade_df1_32x64_q31.c              |   0
 .../FilteringFunctions/arm_biquad_cascade_df1_f32.c |   0
 .../arm_biquad_cascade_df1_fast_q15.c               |   0
 .../arm_biquad_cascade_df1_fast_q31.c               |   0
 .../arm_biquad_cascade_df1_init_f32.c               |   0
 .../arm_biquad_cascade_df1_init_q15.c               |   0
 .../arm_biquad_cascade_df1_init_q31.c               |   0
 .../FilteringFunctions/arm_biquad_cascade_df1_q15.c |   0
 .../FilteringFunctions/arm_biquad_cascade_df1_q31.c |   0
 .../arm_biquad_cascade_df2T_f32.c                   |   0
 .../arm_biquad_cascade_df2T_init_f32.c              |   0
 .../Source/FilteringFunctions/arm_conv_f32.c        |   0
 .../Source/FilteringFunctions/arm_conv_fast_q15.c   |   0
 .../Source/FilteringFunctions/arm_conv_fast_q31.c   |   0
 .../FilteringFunctions/arm_conv_partial_f32.c       |   0
 .../FilteringFunctions/arm_conv_partial_fast_q15.c  |   0
 .../FilteringFunctions/arm_conv_partial_fast_q31.c  |   0
 .../FilteringFunctions/arm_conv_partial_q15.c       |   0
 .../FilteringFunctions/arm_conv_partial_q31.c       |   0
 .../Source/FilteringFunctions/arm_conv_partial_q7.c |   0
 .../Source/FilteringFunctions/arm_conv_q15.c        |   0
 .../Source/FilteringFunctions/arm_conv_q31.c        |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c |   0
 .../Source/FilteringFunctions/arm_correlate_f32.c   |   0
 .../FilteringFunctions/arm_correlate_fast_q15.c     |   0
 .../FilteringFunctions/arm_correlate_fast_q31.c     |   0
 .../Source/FilteringFunctions/arm_correlate_q15.c   |   0
 .../Source/FilteringFunctions/arm_correlate_q31.c   |   0
 .../Source/FilteringFunctions/arm_correlate_q7.c    |   0
 .../FilteringFunctions/arm_fir_decimate_f32.c       |   0
 .../FilteringFunctions/arm_fir_decimate_fast_q15.c  |   0
 .../FilteringFunctions/arm_fir_decimate_fast_q31.c  |   0
 .../FilteringFunctions/arm_fir_decimate_init_f32.c  |   0
 .../FilteringFunctions/arm_fir_decimate_init_q15.c  |   0
 .../FilteringFunctions/arm_fir_decimate_init_q31.c  |   0
 .../FilteringFunctions/arm_fir_decimate_q15.c       |   0
 .../FilteringFunctions/arm_fir_decimate_q31.c       |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c |   0
 .../Source/FilteringFunctions/arm_fir_fast_q15.c    |   0
 .../Source/FilteringFunctions/arm_fir_fast_q31.c    |   0
 .../Source/FilteringFunctions/arm_fir_init_f32.c    |   0
 .../Source/FilteringFunctions/arm_fir_init_q15.c    |   0
 .../Source/FilteringFunctions/arm_fir_init_q31.c    |   0
 .../Source/FilteringFunctions/arm_fir_init_q7.c     |   0
 .../FilteringFunctions/arm_fir_interpolate_f32.c    |   0
 .../arm_fir_interpolate_init_f32.c                  |   0
 .../arm_fir_interpolate_init_q15.c                  |   0
 .../arm_fir_interpolate_init_q31.c                  |   0
 .../FilteringFunctions/arm_fir_interpolate_q15.c    |   0
 .../FilteringFunctions/arm_fir_interpolate_q31.c    |   0
 .../Source/FilteringFunctions/arm_fir_lattice_f32.c |   0
 .../FilteringFunctions/arm_fir_lattice_init_f32.c   |   0
 .../FilteringFunctions/arm_fir_lattice_init_q15.c   |   0
 .../FilteringFunctions/arm_fir_lattice_init_q31.c   |   0
 .../Source/FilteringFunctions/arm_fir_lattice_q15.c |   0
 .../Source/FilteringFunctions/arm_fir_lattice_q31.c |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c  |   0
 .../Source/FilteringFunctions/arm_fir_sparse_f32.c  |   0
 .../FilteringFunctions/arm_fir_sparse_init_f32.c    |   0
 .../FilteringFunctions/arm_fir_sparse_init_q15.c    |   0
 .../FilteringFunctions/arm_fir_sparse_init_q31.c    |   0
 .../FilteringFunctions/arm_fir_sparse_init_q7.c     |   0
 .../Source/FilteringFunctions/arm_fir_sparse_q15.c  |   0
 .../Source/FilteringFunctions/arm_fir_sparse_q31.c  |   0
 .../Source/FilteringFunctions/arm_fir_sparse_q7.c   |   0
 .../Source/FilteringFunctions/arm_iir_lattice_f32.c |   0
 .../FilteringFunctions/arm_iir_lattice_init_f32.c   |   0
 .../FilteringFunctions/arm_iir_lattice_init_q15.c   |   0
 .../FilteringFunctions/arm_iir_lattice_init_q31.c   |   0
 .../Source/FilteringFunctions/arm_iir_lattice_q15.c |   0
 .../Source/FilteringFunctions/arm_iir_lattice_q31.c |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c |   0
 .../Source/FilteringFunctions/arm_lms_init_f32.c    |   0
 .../Source/FilteringFunctions/arm_lms_init_q15.c    |   0
 .../Source/FilteringFunctions/arm_lms_init_q31.c    |   0
 .../Source/FilteringFunctions/arm_lms_norm_f32.c    |   0
 .../FilteringFunctions/arm_lms_norm_init_f32.c      |   0
 .../FilteringFunctions/arm_lms_norm_init_q15.c      |   0
 .../FilteringFunctions/arm_lms_norm_init_q31.c      |   0
 .../Source/FilteringFunctions/arm_lms_norm_q15.c    |   0
 .../Source/FilteringFunctions/arm_lms_norm_q31.c    |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c |   0
 .../DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c |   0
 .../Source/MatrixFunctions/arm_mat_add_f32.c        |   0
 .../Source/MatrixFunctions/arm_mat_add_q15.c        |   0
 .../Source/MatrixFunctions/arm_mat_add_q31.c        |   0
 .../Source/MatrixFunctions/arm_mat_init_f32.c       |   0
 .../Source/MatrixFunctions/arm_mat_init_q15.c       |   0
 .../Source/MatrixFunctions/arm_mat_init_q31.c       |   0
 .../Source/MatrixFunctions/arm_mat_inverse_f32.c    |   0
 .../Source/MatrixFunctions/arm_mat_mult_f32.c       |   0
 .../Source/MatrixFunctions/arm_mat_mult_fast_q15.c  |   0
 .../Source/MatrixFunctions/arm_mat_mult_fast_q31.c  |   0
 .../Source/MatrixFunctions/arm_mat_mult_q15.c       |   0
 .../Source/MatrixFunctions/arm_mat_mult_q31.c       |   0
 .../Source/MatrixFunctions/arm_mat_scale_f32.c      |   0
 .../Source/MatrixFunctions/arm_mat_scale_q15.c      |   0
 .../Source/MatrixFunctions/arm_mat_scale_q31.c      |   0
 .../Source/MatrixFunctions/arm_mat_sub_f32.c        |   0
 .../Source/MatrixFunctions/arm_mat_sub_q15.c        |   0
 .../Source/MatrixFunctions/arm_mat_sub_q31.c        |   0
 .../Source/MatrixFunctions/arm_mat_trans_f32.c      |   0
 .../Source/MatrixFunctions/arm_mat_trans_q15.c      |   0
 .../Source/MatrixFunctions/arm_mat_trans_q31.c      |   0
 .../Source/StatisticsFunctions/arm_max_f32.c        |   0
 .../Source/StatisticsFunctions/arm_max_q15.c        |   0
 .../Source/StatisticsFunctions/arm_max_q31.c        |   0
 .../DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c |   0
 .../Source/StatisticsFunctions/arm_mean_f32.c       |   0
 .../Source/StatisticsFunctions/arm_mean_q15.c       |   0
 .../Source/StatisticsFunctions/arm_mean_q31.c       |   0
 .../Source/StatisticsFunctions/arm_mean_q7.c        |   0
 .../Source/StatisticsFunctions/arm_min_f32.c        |   0
 .../Source/StatisticsFunctions/arm_min_q15.c        |   0
 .../Source/StatisticsFunctions/arm_min_q31.c        |   0
 .../DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c |   0
 .../Source/StatisticsFunctions/arm_power_f32.c      |   0
 .../Source/StatisticsFunctions/arm_power_q15.c      |   0
 .../Source/StatisticsFunctions/arm_power_q31.c      |   0
 .../Source/StatisticsFunctions/arm_power_q7.c       |   0
 .../Source/StatisticsFunctions/arm_rms_f32.c        |   0
 .../Source/StatisticsFunctions/arm_rms_q15.c        |   0
 .../Source/StatisticsFunctions/arm_rms_q31.c        |   0
 .../Source/StatisticsFunctions/arm_std_f32.c        |   0
 .../Source/StatisticsFunctions/arm_std_q15.c        |   0
 .../Source/StatisticsFunctions/arm_std_q31.c        |   0
 .../Source/StatisticsFunctions/arm_var_f32.c        |   0
 .../Source/StatisticsFunctions/arm_var_q15.c        |   0
 .../Source/StatisticsFunctions/arm_var_q31.c        |   0
 .../DSP_Lib/Source/SupportFunctions/arm_copy_f32.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_copy_q15.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_copy_q31.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_copy_q7.c   |   0
 .../DSP_Lib/Source/SupportFunctions/arm_fill_f32.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_fill_q15.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_fill_q31.c  |   0
 .../DSP_Lib/Source/SupportFunctions/arm_fill_q7.c   |   0
 .../Source/SupportFunctions/arm_float_to_q15.c      |   0
 .../Source/SupportFunctions/arm_float_to_q31.c      |   0
 .../Source/SupportFunctions/arm_float_to_q7.c       |   0
 .../Source/SupportFunctions/arm_q15_to_float.c      |   0
 .../Source/SupportFunctions/arm_q15_to_q31.c        |   0
 .../DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c |   0
 .../Source/SupportFunctions/arm_q31_to_float.c      |   0
 .../Source/SupportFunctions/arm_q31_to_q15.c        |   0
 .../DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c |   0
 .../Source/SupportFunctions/arm_q7_to_float.c       |   0
 .../DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c |   0
 .../DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c |   0
 .../Source/TransformFunctions/arm_cfft_radix4_f32.c |   0
 .../TransformFunctions/arm_cfft_radix4_init_f32.c   |   0
 .../TransformFunctions/arm_cfft_radix4_init_q15.c   |   0
 .../TransformFunctions/arm_cfft_radix4_init_q31.c   |   0
 .../Source/TransformFunctions/arm_cfft_radix4_q15.c |   0
 .../Source/TransformFunctions/arm_cfft_radix4_q31.c |   0
 .../Source/TransformFunctions/arm_dct4_f32.c        |   0
 .../Source/TransformFunctions/arm_dct4_init_f32.c   |   0
 .../Source/TransformFunctions/arm_dct4_init_q15.c   |   0
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 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h  |   0
 .../inc/stm32f4xx_dbgmcu.h                          |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h |   0
 .../inc/stm32f4xx_flash.h                           |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h  |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h  |   0
 .../inc/stm32f4xx_syscfg.h                          |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h  |   0
 .../inc/stm32f4xx_usart.h                           |   0
 .../STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h |   0
 .../libraries/STM32F4xx_StdPeriph_Driver/src/misc.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c |   0
 .../src/stm32f4xx_cryp_aes.c                        |   0
 .../src/stm32f4xx_cryp_des.c                        |   0
 .../src/stm32f4xx_cryp_tdes.c                       |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c  |   0
 .../src/stm32f4xx_dbgmcu.c                          |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c |   0
 .../src/stm32f4xx_flash.c                           |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c |   0
 .../src/stm32f4xx_hash_md5.c                        |   0
 .../src/stm32f4xx_hash_sha1.c                       |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c  |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c  |   0
 .../src/stm32f4xx_syscfg.c                          |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c  |   0
 .../src/stm32f4xx_usart.c                           |   0
 .../STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_conf.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_core.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_def.h    |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_desc.h   |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_ioreq.h  |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_req.h    |   0
 .../STM32_USB_Device_Library/Core/inc/usbd_usr.h    |   0
 .../STM32_USB_Device_Library/Core/src/usbd_core.c   |   0
 .../STM32_USB_Device_Library/Core/src/usbd_ioreq.c  |   0
 .../STM32_USB_Device_Library/Core/src/usbd_req.c    |   0
 .../STM32_USB_Device_Library/Release_Notes.html     |   0
 .../STM32_USB_OTG_Driver/Release_Notes.html         |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h    |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_conf.h   |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_core.h   |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h    |   0
 .../STM32_USB_OTG_Driver/inc/usb_dcd_int.h          |   0
 .../STM32_USB_OTG_Driver/inc/usb_defines.h          |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h    |   0
 .../STM32_USB_OTG_Driver/inc/usb_hcd_int.h          |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_otg.h    |   0
 .../libraries/STM32_USB_OTG_Driver/inc/usb_regs.h   |   0
 .../STM32_USB_OTG_Driver/src/usb_bsp_template.c     |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_core.c   |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_dcd.c    |   0
 .../STM32_USB_OTG_Driver/src/usb_dcd_int.c          |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_hcd.c    |   0
 .../STM32_USB_OTG_Driver/src/usb_hcd_int.c          |   0
 .../libraries/STM32_USB_OTG_Driver/src/usb_otg.c    |   0
 flight/{PiOS => pios}/stm32f4xx/library.mk          |   0
 .../stm32f4xx/link_stm32f4xx_bl_memory.ld           |   0
 .../stm32f4xx/link_stm32f4xx_fw_memory.ld           |   0
 .../stm32f4xx/link_stm32f4xx_sections.ld            |   0
 flight/{PiOS => pios}/stm32f4xx/pios_adc.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_bkp.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_bl_helper.c    |   0
 flight/{PiOS => pios}/stm32f4xx/pios_debug.c        |   0
 flight/{PiOS => pios}/stm32f4xx/pios_delay.c        |   0
 flight/{PiOS => pios}/stm32f4xx/pios_dsm.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_exti.c         |   0
 .../{PiOS => pios}/stm32f4xx/pios_flash_internal.c  |   0
 flight/{PiOS => pios}/stm32f4xx/pios_gpio.c         |   0
 flight/{PiOS => pios}/stm32f4xx/pios_i2c.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_irq.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_led.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_overo.c        |   0
 flight/{PiOS => pios}/stm32f4xx/pios_ppm.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_pwm.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_rtc.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_servo.c        |   0
 flight/{PiOS => pios}/stm32f4xx/pios_spi.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_sys.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_tim.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_usart.c        |   0
 flight/{PiOS => pios}/stm32f4xx/pios_usb.c          |   0
 flight/{PiOS => pios}/stm32f4xx/pios_usb_cdc.c      |   0
 flight/{PiOS => pios}/stm32f4xx/pios_usb_hid.c      |   0
 flight/{PiOS => pios}/stm32f4xx/pios_usbhook.c      |   0
 flight/{PiOS => pios}/stm32f4xx/pios_wdg.c          |   0
 flight/{PiOS => pios}/stm32f4xx/startup.c           |   0
 flight/{PiOS => pios}/stm32f4xx/vectors_stm32f4xx.c |   0
 1585 files changed, 1 insertion(+), 1 deletion(-)
 rename flight/{PiOS => pios}/common/libraries/.no-auto-format (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c (100%)
 rename flight/{PiOS => pios}/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c (100%)
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 rename flight/{PiOS => pios}/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/library.mk (100%)
 rename flight/{PiOS => pios}/stm32f4xx/link_stm32f4xx_bl_memory.ld (100%)
 rename flight/{PiOS => pios}/stm32f4xx/link_stm32f4xx_fw_memory.ld (100%)
 rename flight/{PiOS => pios}/stm32f4xx/link_stm32f4xx_sections.ld (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_adc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_bkp.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_bl_helper.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_debug.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_delay.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_dsm.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_exti.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_flash_internal.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_gpio.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_i2c.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_irq.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_led.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_overo.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_ppm.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_pwm.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_rtc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_servo.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_spi.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_sys.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_tim.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_usart.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_usb.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_usb_cdc.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_usb_hid.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_usbhook.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/pios_wdg.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/startup.c (100%)
 rename flight/{PiOS => pios}/stm32f4xx/vectors_stm32f4xx.c (100%)

diff --git a/Makefile b/Makefile
index 805a9ac3b..3766182a4 100644
--- a/Makefile
+++ b/Makefile
@@ -187,7 +187,7 @@ uavobjects_clean:
 
 # Define some pointers to the various important pieces of the flight code
 # to prevent these being repeated in every sub makefile
-export PIOS          := $(ROOT_DIR)/flight/PiOS
+export PIOS          := $(ROOT_DIR)/flight/pios
 export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
 export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
 export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
diff --git a/flight/PiOS/common/libraries/.no-auto-format b/flight/pios/common/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/common/libraries/.no-auto-format
rename to flight/pios/common/libraries/.no-auto-format
diff --git a/flight/PiOS/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf b/flight/pios/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
rename to flight/pios/common/libraries/CMSIS2/CMSIS END USER LICENCE AGREEMENT.pdf
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
similarity index 100%
rename from flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
rename to flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
diff --git a/flight/PiOS/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/flight/pios/common/libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
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diff --git a/flight/PiOS/common/pios_l3gd20.c b/flight/pios/common/pios_l3gd20.c
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rename from flight/PiOS/common/pios_l3gd20.c
rename to flight/pios/common/pios_l3gd20.c
diff --git a/flight/PiOS/common/pios_mpu6000.c b/flight/pios/common/pios_mpu6000.c
similarity index 100%
rename from flight/PiOS/common/pios_mpu6000.c
rename to flight/pios/common/pios_mpu6000.c
diff --git a/flight/PiOS/common/pios_mpxv.c b/flight/pios/common/pios_mpxv.c
similarity index 100%
rename from flight/PiOS/common/pios_mpxv.c
rename to flight/pios/common/pios_mpxv.c
diff --git a/flight/PiOS/common/pios_ms5611.c b/flight/pios/common/pios_ms5611.c
similarity index 100%
rename from flight/PiOS/common/pios_ms5611.c
rename to flight/pios/common/pios_ms5611.c
diff --git a/flight/PiOS/common/pios_rcvr.c b/flight/pios/common/pios_rcvr.c
similarity index 100%
rename from flight/PiOS/common/pios_rcvr.c
rename to flight/pios/common/pios_rcvr.c
diff --git a/flight/PiOS/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c
similarity index 100%
rename from flight/PiOS/common/pios_rfm22b.c
rename to flight/pios/common/pios_rfm22b.c
diff --git a/flight/PiOS/common/pios_rfm22b_com.c b/flight/pios/common/pios_rfm22b_com.c
similarity index 100%
rename from flight/PiOS/common/pios_rfm22b_com.c
rename to flight/pios/common/pios_rfm22b_com.c
diff --git a/flight/PiOS/common/pios_rfm22b_rcvr.c b/flight/pios/common/pios_rfm22b_rcvr.c
similarity index 100%
rename from flight/PiOS/common/pios_rfm22b_rcvr.c
rename to flight/pios/common/pios_rfm22b_rcvr.c
diff --git a/flight/PiOS/common/pios_sbus.c b/flight/pios/common/pios_sbus.c
similarity index 100%
rename from flight/PiOS/common/pios_sbus.c
rename to flight/pios/common/pios_sbus.c
diff --git a/flight/PiOS/common/pios_sdcard.c b/flight/pios/common/pios_sdcard.c
similarity index 100%
rename from flight/PiOS/common/pios_sdcard.c
rename to flight/pios/common/pios_sdcard.c
diff --git a/flight/PiOS/common/pios_usb_desc_hid_cdc.c b/flight/pios/common/pios_usb_desc_hid_cdc.c
similarity index 100%
rename from flight/PiOS/common/pios_usb_desc_hid_cdc.c
rename to flight/pios/common/pios_usb_desc_hid_cdc.c
diff --git a/flight/PiOS/common/pios_usb_desc_hid_only.c b/flight/pios/common/pios_usb_desc_hid_only.c
similarity index 100%
rename from flight/PiOS/common/pios_usb_desc_hid_only.c
rename to flight/pios/common/pios_usb_desc_hid_only.c
diff --git a/flight/PiOS/common/pios_usb_util.c b/flight/pios/common/pios_usb_util.c
similarity index 100%
rename from flight/PiOS/common/pios_usb_util.c
rename to flight/pios/common/pios_usb_util.c
diff --git a/flight/PiOS/common/pios_video.c b/flight/pios/common/pios_video.c
similarity index 100%
rename from flight/PiOS/common/pios_video.c
rename to flight/pios/common/pios_video.c
diff --git a/flight/PiOS/common/pios_wavplay.c b/flight/pios/common/pios_wavplay.c
similarity index 100%
rename from flight/PiOS/common/pios_wavplay.c
rename to flight/pios/common/pios_wavplay.c
diff --git a/flight/PiOS/inc/pios_adc.h b/flight/pios/inc/pios_adc.h
similarity index 100%
rename from flight/PiOS/inc/pios_adc.h
rename to flight/pios/inc/pios_adc.h
diff --git a/flight/PiOS/inc/pios_adc_priv.h b/flight/pios/inc/pios_adc_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_adc_priv.h
rename to flight/pios/inc/pios_adc_priv.h
diff --git a/flight/PiOS/inc/pios_adxl345.h b/flight/pios/inc/pios_adxl345.h
similarity index 100%
rename from flight/PiOS/inc/pios_adxl345.h
rename to flight/pios/inc/pios_adxl345.h
diff --git a/flight/PiOS/inc/pios_bkp.h b/flight/pios/inc/pios_bkp.h
similarity index 100%
rename from flight/PiOS/inc/pios_bkp.h
rename to flight/pios/inc/pios_bkp.h
diff --git a/flight/PiOS/inc/pios_bl_helper.h b/flight/pios/inc/pios_bl_helper.h
similarity index 100%
rename from flight/PiOS/inc/pios_bl_helper.h
rename to flight/pios/inc/pios_bl_helper.h
diff --git a/flight/PiOS/inc/pios_bma180.h b/flight/pios/inc/pios_bma180.h
similarity index 100%
rename from flight/PiOS/inc/pios_bma180.h
rename to flight/pios/inc/pios_bma180.h
diff --git a/flight/PiOS/inc/pios_bmp085.h b/flight/pios/inc/pios_bmp085.h
similarity index 100%
rename from flight/PiOS/inc/pios_bmp085.h
rename to flight/pios/inc/pios_bmp085.h
diff --git a/flight/PiOS/inc/pios_board_info.h b/flight/pios/inc/pios_board_info.h
similarity index 100%
rename from flight/PiOS/inc/pios_board_info.h
rename to flight/pios/inc/pios_board_info.h
diff --git a/flight/PiOS/inc/pios_com.h b/flight/pios/inc/pios_com.h
similarity index 100%
rename from flight/PiOS/inc/pios_com.h
rename to flight/pios/inc/pios_com.h
diff --git a/flight/PiOS/inc/pios_com_msg.h b/flight/pios/inc/pios_com_msg.h
similarity index 100%
rename from flight/PiOS/inc/pios_com_msg.h
rename to flight/pios/inc/pios_com_msg.h
diff --git a/flight/PiOS/inc/pios_com_msg_priv.h b/flight/pios/inc/pios_com_msg_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_com_msg_priv.h
rename to flight/pios/inc/pios_com_msg_priv.h
diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/pios/inc/pios_com_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_com_priv.h
rename to flight/pios/inc/pios_com_priv.h
diff --git a/flight/PiOS/inc/pios_constants.h b/flight/pios/inc/pios_constants.h
similarity index 100%
rename from flight/PiOS/inc/pios_constants.h
rename to flight/pios/inc/pios_constants.h
diff --git a/flight/PiOS/inc/pios_crc.h b/flight/pios/inc/pios_crc.h
similarity index 100%
rename from flight/PiOS/inc/pios_crc.h
rename to flight/pios/inc/pios_crc.h
diff --git a/flight/PiOS/inc/pios_debug.h b/flight/pios/inc/pios_debug.h
similarity index 100%
rename from flight/PiOS/inc/pios_debug.h
rename to flight/pios/inc/pios_debug.h
diff --git a/flight/PiOS/inc/pios_delay.h b/flight/pios/inc/pios_delay.h
similarity index 100%
rename from flight/PiOS/inc/pios_delay.h
rename to flight/pios/inc/pios_delay.h
diff --git a/flight/PiOS/inc/pios_dsm.h b/flight/pios/inc/pios_dsm.h
similarity index 100%
rename from flight/PiOS/inc/pios_dsm.h
rename to flight/pios/inc/pios_dsm.h
diff --git a/flight/PiOS/inc/pios_dsm_priv.h b/flight/pios/inc/pios_dsm_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_dsm_priv.h
rename to flight/pios/inc/pios_dsm_priv.h
diff --git a/flight/PiOS/inc/pios_eeprom.h b/flight/pios/inc/pios_eeprom.h
similarity index 100%
rename from flight/PiOS/inc/pios_eeprom.h
rename to flight/pios/inc/pios_eeprom.h
diff --git a/flight/PiOS/inc/pios_etasv3.h b/flight/pios/inc/pios_etasv3.h
similarity index 100%
rename from flight/PiOS/inc/pios_etasv3.h
rename to flight/pios/inc/pios_etasv3.h
diff --git a/flight/PiOS/inc/pios_exti.h b/flight/pios/inc/pios_exti.h
similarity index 100%
rename from flight/PiOS/inc/pios_exti.h
rename to flight/pios/inc/pios_exti.h
diff --git a/flight/PiOS/inc/pios_flash.h b/flight/pios/inc/pios_flash.h
similarity index 100%
rename from flight/PiOS/inc/pios_flash.h
rename to flight/pios/inc/pios_flash.h
diff --git a/flight/PiOS/inc/pios_flash_internal_priv.h b/flight/pios/inc/pios_flash_internal_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_flash_internal_priv.h
rename to flight/pios/inc/pios_flash_internal_priv.h
diff --git a/flight/PiOS/inc/pios_flash_jedec_catalog.h b/flight/pios/inc/pios_flash_jedec_catalog.h
similarity index 100%
rename from flight/PiOS/inc/pios_flash_jedec_catalog.h
rename to flight/pios/inc/pios_flash_jedec_catalog.h
diff --git a/flight/PiOS/inc/pios_flash_jedec_priv.h b/flight/pios/inc/pios_flash_jedec_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_flash_jedec_priv.h
rename to flight/pios/inc/pios_flash_jedec_priv.h
diff --git a/flight/PiOS/inc/pios_flashfs.h b/flight/pios/inc/pios_flashfs.h
similarity index 100%
rename from flight/PiOS/inc/pios_flashfs.h
rename to flight/pios/inc/pios_flashfs.h
diff --git a/flight/PiOS/inc/pios_flashfs_logfs_priv.h b/flight/pios/inc/pios_flashfs_logfs_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_flashfs_logfs_priv.h
rename to flight/pios/inc/pios_flashfs_logfs_priv.h
diff --git a/flight/PiOS/inc/pios_gcsrcvr_priv.h b/flight/pios/inc/pios_gcsrcvr_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_gcsrcvr_priv.h
rename to flight/pios/inc/pios_gcsrcvr_priv.h
diff --git a/flight/PiOS/inc/pios_gpio.h b/flight/pios/inc/pios_gpio.h
similarity index 100%
rename from flight/PiOS/inc/pios_gpio.h
rename to flight/pios/inc/pios_gpio.h
diff --git a/flight/PiOS/inc/pios_hcsr04.h b/flight/pios/inc/pios_hcsr04.h
similarity index 100%
rename from flight/PiOS/inc/pios_hcsr04.h
rename to flight/pios/inc/pios_hcsr04.h
diff --git a/flight/PiOS/inc/pios_helpers.h b/flight/pios/inc/pios_helpers.h
similarity index 100%
rename from flight/PiOS/inc/pios_helpers.h
rename to flight/pios/inc/pios_helpers.h
diff --git a/flight/PiOS/inc/pios_hmc5843.h b/flight/pios/inc/pios_hmc5843.h
similarity index 100%
rename from flight/PiOS/inc/pios_hmc5843.h
rename to flight/pios/inc/pios_hmc5843.h
diff --git a/flight/PiOS/inc/pios_hmc5883.h b/flight/pios/inc/pios_hmc5883.h
similarity index 100%
rename from flight/PiOS/inc/pios_hmc5883.h
rename to flight/pios/inc/pios_hmc5883.h
diff --git a/flight/PiOS/inc/pios_i2c.h b/flight/pios/inc/pios_i2c.h
similarity index 100%
rename from flight/PiOS/inc/pios_i2c.h
rename to flight/pios/inc/pios_i2c.h
diff --git a/flight/PiOS/inc/pios_i2c_esc.h b/flight/pios/inc/pios_i2c_esc.h
similarity index 100%
rename from flight/PiOS/inc/pios_i2c_esc.h
rename to flight/pios/inc/pios_i2c_esc.h
diff --git a/flight/PiOS/inc/pios_i2c_priv.h b/flight/pios/inc/pios_i2c_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_i2c_priv.h
rename to flight/pios/inc/pios_i2c_priv.h
diff --git a/flight/PiOS/inc/pios_iap.h b/flight/pios/inc/pios_iap.h
similarity index 100%
rename from flight/PiOS/inc/pios_iap.h
rename to flight/pios/inc/pios_iap.h
diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/pios/inc/pios_initcall.h
similarity index 100%
rename from flight/PiOS/inc/pios_initcall.h
rename to flight/pios/inc/pios_initcall.h
diff --git a/flight/PiOS/inc/pios_irq.h b/flight/pios/inc/pios_irq.h
similarity index 100%
rename from flight/PiOS/inc/pios_irq.h
rename to flight/pios/inc/pios_irq.h
diff --git a/flight/PiOS/inc/pios_l3gd20.h b/flight/pios/inc/pios_l3gd20.h
similarity index 100%
rename from flight/PiOS/inc/pios_l3gd20.h
rename to flight/pios/inc/pios_l3gd20.h
diff --git a/flight/PiOS/inc/pios_led.h b/flight/pios/inc/pios_led.h
similarity index 100%
rename from flight/PiOS/inc/pios_led.h
rename to flight/pios/inc/pios_led.h
diff --git a/flight/PiOS/inc/pios_led_priv.h b/flight/pios/inc/pios_led_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_led_priv.h
rename to flight/pios/inc/pios_led_priv.h
diff --git a/flight/PiOS/inc/pios_math.h b/flight/pios/inc/pios_math.h
similarity index 100%
rename from flight/PiOS/inc/pios_math.h
rename to flight/pios/inc/pios_math.h
diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/pios/inc/pios_mpu6000.h
similarity index 100%
rename from flight/PiOS/inc/pios_mpu6000.h
rename to flight/pios/inc/pios_mpu6000.h
diff --git a/flight/PiOS/inc/pios_mpu6000_config.h b/flight/pios/inc/pios_mpu6000_config.h
similarity index 100%
rename from flight/PiOS/inc/pios_mpu6000_config.h
rename to flight/pios/inc/pios_mpu6000_config.h
diff --git a/flight/PiOS/inc/pios_mpxv.h b/flight/pios/inc/pios_mpxv.h
similarity index 100%
rename from flight/PiOS/inc/pios_mpxv.h
rename to flight/pios/inc/pios_mpxv.h
diff --git a/flight/PiOS/inc/pios_ms5611.h b/flight/pios/inc/pios_ms5611.h
similarity index 100%
rename from flight/PiOS/inc/pios_ms5611.h
rename to flight/pios/inc/pios_ms5611.h
diff --git a/flight/PiOS/inc/pios_overo.h b/flight/pios/inc/pios_overo.h
similarity index 100%
rename from flight/PiOS/inc/pios_overo.h
rename to flight/pios/inc/pios_overo.h
diff --git a/flight/PiOS/inc/pios_overo_priv.h b/flight/pios/inc/pios_overo_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_overo_priv.h
rename to flight/pios/inc/pios_overo_priv.h
diff --git a/flight/PiOS/inc/pios_posix.h b/flight/pios/inc/pios_posix.h
similarity index 100%
rename from flight/PiOS/inc/pios_posix.h
rename to flight/pios/inc/pios_posix.h
diff --git a/flight/PiOS/inc/pios_ppm.h b/flight/pios/inc/pios_ppm.h
similarity index 100%
rename from flight/PiOS/inc/pios_ppm.h
rename to flight/pios/inc/pios_ppm.h
diff --git a/flight/PiOS/inc/pios_ppm_out_priv.h b/flight/pios/inc/pios_ppm_out_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_ppm_out_priv.h
rename to flight/pios/inc/pios_ppm_out_priv.h
diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/pios/inc/pios_ppm_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_ppm_priv.h
rename to flight/pios/inc/pios_ppm_priv.h
diff --git a/flight/PiOS/inc/pios_pwm.h b/flight/pios/inc/pios_pwm.h
similarity index 100%
rename from flight/PiOS/inc/pios_pwm.h
rename to flight/pios/inc/pios_pwm.h
diff --git a/flight/PiOS/inc/pios_pwm_priv.h b/flight/pios/inc/pios_pwm_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_pwm_priv.h
rename to flight/pios/inc/pios_pwm_priv.h
diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/pios/inc/pios_rcvr.h
similarity index 100%
rename from flight/PiOS/inc/pios_rcvr.h
rename to flight/pios/inc/pios_rcvr.h
diff --git a/flight/PiOS/inc/pios_rcvr_priv.h b/flight/pios/inc/pios_rcvr_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_rcvr_priv.h
rename to flight/pios/inc/pios_rcvr_priv.h
diff --git a/flight/PiOS/inc/pios_rfm22b.h b/flight/pios/inc/pios_rfm22b.h
similarity index 100%
rename from flight/PiOS/inc/pios_rfm22b.h
rename to flight/pios/inc/pios_rfm22b.h
diff --git a/flight/PiOS/inc/pios_rfm22b_com.h b/flight/pios/inc/pios_rfm22b_com.h
similarity index 100%
rename from flight/PiOS/inc/pios_rfm22b_com.h
rename to flight/pios/inc/pios_rfm22b_com.h
diff --git a/flight/PiOS/inc/pios_rfm22b_priv.h b/flight/pios/inc/pios_rfm22b_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_rfm22b_priv.h
rename to flight/pios/inc/pios_rfm22b_priv.h
diff --git a/flight/PiOS/inc/pios_rfm22b_rcvr.h b/flight/pios/inc/pios_rfm22b_rcvr.h
similarity index 100%
rename from flight/PiOS/inc/pios_rfm22b_rcvr.h
rename to flight/pios/inc/pios_rfm22b_rcvr.h
diff --git a/flight/PiOS/inc/pios_rtc.h b/flight/pios/inc/pios_rtc.h
similarity index 100%
rename from flight/PiOS/inc/pios_rtc.h
rename to flight/pios/inc/pios_rtc.h
diff --git a/flight/PiOS/inc/pios_rtc_priv.h b/flight/pios/inc/pios_rtc_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_rtc_priv.h
rename to flight/pios/inc/pios_rtc_priv.h
diff --git a/flight/PiOS/inc/pios_sbus.h b/flight/pios/inc/pios_sbus.h
similarity index 100%
rename from flight/PiOS/inc/pios_sbus.h
rename to flight/pios/inc/pios_sbus.h
diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/pios/inc/pios_sbus_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_sbus_priv.h
rename to flight/pios/inc/pios_sbus_priv.h
diff --git a/flight/PiOS/inc/pios_sdcard.h b/flight/pios/inc/pios_sdcard.h
similarity index 100%
rename from flight/PiOS/inc/pios_sdcard.h
rename to flight/pios/inc/pios_sdcard.h
diff --git a/flight/PiOS/inc/pios_servo.h b/flight/pios/inc/pios_servo.h
similarity index 100%
rename from flight/PiOS/inc/pios_servo.h
rename to flight/pios/inc/pios_servo.h
diff --git a/flight/PiOS/inc/pios_servo_priv.h b/flight/pios/inc/pios_servo_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_servo_priv.h
rename to flight/pios/inc/pios_servo_priv.h
diff --git a/flight/PiOS/inc/pios_spi.h b/flight/pios/inc/pios_spi.h
similarity index 100%
rename from flight/PiOS/inc/pios_spi.h
rename to flight/pios/inc/pios_spi.h
diff --git a/flight/PiOS/inc/pios_spi_priv.h b/flight/pios/inc/pios_spi_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_spi_priv.h
rename to flight/pios/inc/pios_spi_priv.h
diff --git a/flight/PiOS/inc/pios_stm32.h b/flight/pios/inc/pios_stm32.h
similarity index 100%
rename from flight/PiOS/inc/pios_stm32.h
rename to flight/pios/inc/pios_stm32.h
diff --git a/flight/PiOS/inc/pios_struct_helper.h b/flight/pios/inc/pios_struct_helper.h
similarity index 100%
rename from flight/PiOS/inc/pios_struct_helper.h
rename to flight/pios/inc/pios_struct_helper.h
diff --git a/flight/PiOS/inc/pios_sys.h b/flight/pios/inc/pios_sys.h
similarity index 100%
rename from flight/PiOS/inc/pios_sys.h
rename to flight/pios/inc/pios_sys.h
diff --git a/flight/PiOS/inc/pios_tim.h b/flight/pios/inc/pios_tim.h
similarity index 100%
rename from flight/PiOS/inc/pios_tim.h
rename to flight/pios/inc/pios_tim.h
diff --git a/flight/PiOS/inc/pios_tim_priv.h b/flight/pios/inc/pios_tim_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_tim_priv.h
rename to flight/pios/inc/pios_tim_priv.h
diff --git a/flight/PiOS/inc/pios_udp.h b/flight/pios/inc/pios_udp.h
similarity index 100%
rename from flight/PiOS/inc/pios_udp.h
rename to flight/pios/inc/pios_udp.h
diff --git a/flight/PiOS/inc/pios_udp_priv.h b/flight/pios/inc/pios_udp_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_udp_priv.h
rename to flight/pios/inc/pios_udp_priv.h
diff --git a/flight/PiOS/inc/pios_usart.h b/flight/pios/inc/pios_usart.h
similarity index 100%
rename from flight/PiOS/inc/pios_usart.h
rename to flight/pios/inc/pios_usart.h
diff --git a/flight/PiOS/inc/pios_usart_priv.h b/flight/pios/inc/pios_usart_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usart_priv.h
rename to flight/pios/inc/pios_usart_priv.h
diff --git a/flight/PiOS/inc/pios_usb.h b/flight/pios/inc/pios_usb.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb.h
rename to flight/pios/inc/pios_usb.h
diff --git a/flight/PiOS/inc/pios_usb_board_data_priv.h b/flight/pios/inc/pios_usb_board_data_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_board_data_priv.h
rename to flight/pios/inc/pios_usb_board_data_priv.h
diff --git a/flight/PiOS/inc/pios_usb_cdc_priv.h b/flight/pios/inc/pios_usb_cdc_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_cdc_priv.h
rename to flight/pios/inc/pios_usb_cdc_priv.h
diff --git a/flight/PiOS/inc/pios_usb_defs.h b/flight/pios/inc/pios_usb_defs.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_defs.h
rename to flight/pios/inc/pios_usb_defs.h
diff --git a/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h b/flight/pios/inc/pios_usb_desc_hid_cdc_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h
rename to flight/pios/inc/pios_usb_desc_hid_cdc_priv.h
diff --git a/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h b/flight/pios/inc/pios_usb_desc_hid_only_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_desc_hid_only_priv.h
rename to flight/pios/inc/pios_usb_desc_hid_only_priv.h
diff --git a/flight/PiOS/inc/pios_usb_hid.h b/flight/pios/inc/pios_usb_hid.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_hid.h
rename to flight/pios/inc/pios_usb_hid.h
diff --git a/flight/PiOS/inc/pios_usb_hid_istr.h b/flight/pios/inc/pios_usb_hid_istr.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_hid_istr.h
rename to flight/pios/inc/pios_usb_hid_istr.h
diff --git a/flight/PiOS/inc/pios_usb_hid_priv.h b/flight/pios/inc/pios_usb_hid_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_hid_priv.h
rename to flight/pios/inc/pios_usb_hid_priv.h
diff --git a/flight/PiOS/inc/pios_usb_hid_pwr.h b/flight/pios/inc/pios_usb_hid_pwr.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_hid_pwr.h
rename to flight/pios/inc/pios_usb_hid_pwr.h
diff --git a/flight/PiOS/inc/pios_usb_priv.h b/flight/pios/inc/pios_usb_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_priv.h
rename to flight/pios/inc/pios_usb_priv.h
diff --git a/flight/PiOS/inc/pios_usb_rctx.h b/flight/pios/inc/pios_usb_rctx.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_rctx.h
rename to flight/pios/inc/pios_usb_rctx.h
diff --git a/flight/PiOS/inc/pios_usb_rctx_priv.h b/flight/pios/inc/pios_usb_rctx_priv.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_rctx_priv.h
rename to flight/pios/inc/pios_usb_rctx_priv.h
diff --git a/flight/PiOS/inc/pios_usb_util.h b/flight/pios/inc/pios_usb_util.h
similarity index 100%
rename from flight/PiOS/inc/pios_usb_util.h
rename to flight/pios/inc/pios_usb_util.h
diff --git a/flight/PiOS/inc/pios_usbhook.h b/flight/pios/inc/pios_usbhook.h
similarity index 100%
rename from flight/PiOS/inc/pios_usbhook.h
rename to flight/pios/inc/pios_usbhook.h
diff --git a/flight/PiOS/inc/pios_video.h b/flight/pios/inc/pios_video.h
similarity index 100%
rename from flight/PiOS/inc/pios_video.h
rename to flight/pios/inc/pios_video.h
diff --git a/flight/PiOS/inc/pios_wavplay.h b/flight/pios/inc/pios_wavplay.h
similarity index 100%
rename from flight/PiOS/inc/pios_wavplay.h
rename to flight/pios/inc/pios_wavplay.h
diff --git a/flight/PiOS/inc/pios_wdg.h b/flight/pios/inc/pios_wdg.h
similarity index 100%
rename from flight/PiOS/inc/pios_wdg.h
rename to flight/pios/inc/pios_wdg.h
diff --git a/flight/PiOS/inc/stm32f10x_conf.h b/flight/pios/inc/stm32f10x_conf.h
similarity index 100%
rename from flight/PiOS/inc/stm32f10x_conf.h
rename to flight/pios/inc/stm32f10x_conf.h
diff --git a/flight/PiOS/inc/stm32f2xx_conf.h b/flight/pios/inc/stm32f2xx_conf.h
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rename from flight/PiOS/inc/stm32f2xx_conf.h
rename to flight/pios/inc/stm32f2xx_conf.h
diff --git a/flight/PiOS/inc/stm32f4xx_conf.h b/flight/pios/inc/stm32f4xx_conf.h
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rename from flight/PiOS/inc/stm32f4xx_conf.h
rename to flight/pios/inc/stm32f4xx_conf.h
diff --git a/flight/PiOS/inc/usb_conf.h b/flight/pios/inc/usb_conf.h
similarity index 100%
rename from flight/PiOS/inc/usb_conf.h
rename to flight/pios/inc/usb_conf.h
diff --git a/flight/PiOS/pios.h b/flight/pios/pios.h
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rename from flight/PiOS/pios.h
rename to flight/pios/pios.h
diff --git a/flight/PiOS/pios_sim_posix.h b/flight/pios/pios_sim_posix.h
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rename from flight/PiOS/pios_sim_posix.h
rename to flight/pios/pios_sim_posix.h
diff --git a/flight/PiOS/posix/libraries/.no-auto-format b/flight/pios/posix/libraries/.no-auto-format
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rename from flight/PiOS/posix/libraries/.no-auto-format
rename to flight/pios/posix/libraries/.no-auto-format
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
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rename from flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
rename to flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt b/flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
similarity index 100%
rename from flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
rename to flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h b/flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
similarity index 100%
rename from flight/PiOS/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
rename to flight/pios/posix/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/pios/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/pios/posix/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/Source/portable/readme.txt b/flight/pios/posix/libraries/FreeRTOS/Source/portable/readme.txt
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rename from flight/PiOS/posix/libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/pios/posix/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS/posix/libraries/FreeRTOS/library.mk b/flight/pios/posix/libraries/FreeRTOS/library.mk
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rename from flight/PiOS/posix/libraries/FreeRTOS/library.mk
rename to flight/pios/posix/libraries/FreeRTOS/library.mk
diff --git a/flight/PiOS/posix/library.mk b/flight/pios/posix/library.mk
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rename from flight/PiOS/posix/library.mk
rename to flight/pios/posix/library.mk
diff --git a/flight/PiOS/posix/pios_bl_helper.c b/flight/pios/posix/pios_bl_helper.c
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rename from flight/PiOS/posix/pios_bl_helper.c
rename to flight/pios/posix/pios_bl_helper.c
diff --git a/flight/PiOS/posix/pios_board_info.c b/flight/pios/posix/pios_board_info.c
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rename from flight/PiOS/posix/pios_board_info.c
rename to flight/pios/posix/pios_board_info.c
diff --git a/flight/PiOS/posix/pios_com.c b/flight/pios/posix/pios_com.c
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rename from flight/PiOS/posix/pios_com.c
rename to flight/pios/posix/pios_com.c
diff --git a/flight/PiOS/posix/pios_crc.c b/flight/pios/posix/pios_crc.c
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rename from flight/PiOS/posix/pios_crc.c
rename to flight/pios/posix/pios_crc.c
diff --git a/flight/PiOS/posix/pios_debug.c b/flight/pios/posix/pios_debug.c
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rename from flight/PiOS/posix/pios_debug.c
rename to flight/pios/posix/pios_debug.c
diff --git a/flight/PiOS/posix/pios_delay.c b/flight/pios/posix/pios_delay.c
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rename from flight/PiOS/posix/pios_delay.c
rename to flight/pios/posix/pios_delay.c
diff --git a/flight/PiOS/posix/pios_iap.c b/flight/pios/posix/pios_iap.c
similarity index 100%
rename from flight/PiOS/posix/pios_iap.c
rename to flight/pios/posix/pios_iap.c
diff --git a/flight/PiOS/posix/pios_irq.c b/flight/pios/posix/pios_irq.c
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rename from flight/PiOS/posix/pios_irq.c
rename to flight/pios/posix/pios_irq.c
diff --git a/flight/PiOS/posix/pios_led.c b/flight/pios/posix/pios_led.c
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rename from flight/PiOS/posix/pios_led.c
rename to flight/pios/posix/pios_led.c
diff --git a/flight/PiOS/posix/pios_rcvr.c b/flight/pios/posix/pios_rcvr.c
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rename from flight/PiOS/posix/pios_rcvr.c
rename to flight/pios/posix/pios_rcvr.c
diff --git a/flight/PiOS/posix/pios_sdcard.c b/flight/pios/posix/pios_sdcard.c
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rename from flight/PiOS/posix/pios_sdcard.c
rename to flight/pios/posix/pios_sdcard.c
diff --git a/flight/PiOS/posix/pios_servo.c b/flight/pios/posix/pios_servo.c
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rename from flight/PiOS/posix/pios_servo.c
rename to flight/pios/posix/pios_servo.c
diff --git a/flight/PiOS/posix/pios_sys.c b/flight/pios/posix/pios_sys.c
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rename from flight/PiOS/posix/pios_sys.c
rename to flight/pios/posix/pios_sys.c
diff --git a/flight/PiOS/posix/pios_udp.c b/flight/pios/posix/pios_udp.c
similarity index 100%
rename from flight/PiOS/posix/pios_udp.c
rename to flight/pios/posix/pios_udp.c
diff --git a/flight/PiOS/posix/pios_wdg.c b/flight/pios/posix/pios_wdg.c
similarity index 100%
rename from flight/PiOS/posix/pios_wdg.c
rename to flight/pios/posix/pios_wdg.c
diff --git a/flight/PiOS/stm32f10x/libraries/.no-auto-format b/flight/pios/stm32f10x/libraries/.no-auto-format
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rename from flight/PiOS/stm32f10x/libraries/.no-auto-format
rename to flight/pios/stm32f10x/libraries/.no-auto-format
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/core_cm3.c
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_hd.s
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_ld.s
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_md.s
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/stm32f10x.h
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.c
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h b/flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
rename to flight/pios/stm32f10x/libraries/CMSIS/Core/CM3/system_stm32f10x.h
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm b/flight/pios/stm32f10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
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rename to flight/pios/stm32f10x/libraries/CMSIS/Core/Documentation/CMSIS_Core.htm
diff --git a/flight/PiOS/stm32f10x/libraries/CMSIS/License.doc b/flight/pios/stm32f10x/libraries/CMSIS/License.doc
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rename from flight/PiOS/stm32f10x/libraries/CMSIS/License.doc
rename to flight/pios/stm32f10x/libraries/CMSIS/License.doc
diff --git a/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/pios/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
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rename from flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
rename to flight/pios/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
diff --git a/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/pios/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
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rename from flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
rename to flight/pios/stm32f10x/libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
diff --git a/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/portable/readme.txt b/flight/pios/stm32f10x/libraries/FreeRTOS/Source/portable/readme.txt
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diff --git a/flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/readme.txt b/flight/pios/stm32f10x/libraries/FreeRTOS/Source/readme.txt
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rename from flight/PiOS/stm32f10x/libraries/FreeRTOS/Source/readme.txt
rename to flight/pios/stm32f10x/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
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rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
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rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
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rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
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rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
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rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
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rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
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rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c b/flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
rename to flight/pios/stm32f10x/libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
diff --git a/flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c b/flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
rename to flight/pios/stm32f10x/libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd.c b/flight/pios/stm32f10x/libraries/msd/msd.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd.c
rename to flight/pios/stm32f10x/libraries/msd/msd.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd.h b/flight/pios/stm32f10x/libraries/msd/msd.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd.h
rename to flight/pios/stm32f10x/libraries/msd/msd.h
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_bot.c b/flight/pios/stm32f10x/libraries/msd/msd_bot.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_bot.c
rename to flight/pios/stm32f10x/libraries/msd/msd_bot.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_bot.h b/flight/pios/stm32f10x/libraries/msd/msd_bot.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_bot.h
rename to flight/pios/stm32f10x/libraries/msd/msd_bot.h
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_desc.c b/flight/pios/stm32f10x/libraries/msd/msd_desc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_desc.c
rename to flight/pios/stm32f10x/libraries/msd/msd_desc.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_desc.h b/flight/pios/stm32f10x/libraries/msd/msd_desc.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_desc.h
rename to flight/pios/stm32f10x/libraries/msd/msd_desc.h
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_memory.c b/flight/pios/stm32f10x/libraries/msd/msd_memory.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_memory.c
rename to flight/pios/stm32f10x/libraries/msd/msd_memory.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_memory.h b/flight/pios/stm32f10x/libraries/msd/msd_memory.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_memory.h
rename to flight/pios/stm32f10x/libraries/msd/msd_memory.h
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_scsi.c b/flight/pios/stm32f10x/libraries/msd/msd_scsi.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_scsi.c
rename to flight/pios/stm32f10x/libraries/msd/msd_scsi.c
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_scsi.h b/flight/pios/stm32f10x/libraries/msd/msd_scsi.h
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_scsi.h
rename to flight/pios/stm32f10x/libraries/msd/msd_scsi.h
diff --git a/flight/PiOS/stm32f10x/libraries/msd/msd_scsi_data.c b/flight/pios/stm32f10x/libraries/msd/msd_scsi_data.c
similarity index 100%
rename from flight/PiOS/stm32f10x/libraries/msd/msd_scsi_data.c
rename to flight/pios/stm32f10x/libraries/msd/msd_scsi_data.c
diff --git a/flight/PiOS/stm32f10x/library.mk b/flight/pios/stm32f10x/library.mk
similarity index 100%
rename from flight/PiOS/stm32f10x/library.mk
rename to flight/pios/stm32f10x/library.mk
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld b/flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld
rename to flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_BL_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld b/flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld
rename to flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_memory.ld
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld
rename to flight/pios/stm32f10x/link_STM32103CB_CC_Rev1_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld b/flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
rename to flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_BL_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld b/flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld
rename to flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_memory.ld
diff --git a/flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld b/flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld
rename to flight/pios/stm32f10x/link_STM32103CB_OPLINKMINI_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_STM3210E_OP_BL_sections.ld b/flight/pios/stm32f10x/link_STM3210E_OP_BL_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM3210E_OP_BL_sections.ld
rename to flight/pios/stm32f10x/link_STM3210E_OP_BL_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_STM3210E_OP_memory.ld b/flight/pios/stm32f10x/link_STM3210E_OP_memory.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM3210E_OP_memory.ld
rename to flight/pios/stm32f10x/link_STM3210E_OP_memory.ld
diff --git a/flight/PiOS/stm32f10x/link_STM3210E_OP_sections.ld b/flight/pios/stm32f10x/link_STM3210E_OP_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_STM3210E_OP_sections.ld
rename to flight/pios/stm32f10x/link_STM3210E_OP_sections.ld
diff --git a/flight/PiOS/stm32f10x/link_stm32f10x_HD.ld b/flight/pios/stm32f10x/link_stm32f10x_HD.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_stm32f10x_HD.ld
rename to flight/pios/stm32f10x/link_stm32f10x_HD.ld
diff --git a/flight/PiOS/stm32f10x/link_stm32f10x_MD.ld b/flight/pios/stm32f10x/link_stm32f10x_MD.ld
similarity index 100%
rename from flight/PiOS/stm32f10x/link_stm32f10x_MD.ld
rename to flight/pios/stm32f10x/link_stm32f10x_MD.ld
diff --git a/flight/PiOS/stm32f10x/pios_adc.c b/flight/pios/stm32f10x/pios_adc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_adc.c
rename to flight/pios/stm32f10x/pios_adc.c
diff --git a/flight/PiOS/stm32f10x/pios_bkp.c b/flight/pios/stm32f10x/pios_bkp.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_bkp.c
rename to flight/pios/stm32f10x/pios_bkp.c
diff --git a/flight/PiOS/stm32f10x/pios_bl_helper.c b/flight/pios/stm32f10x/pios_bl_helper.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_bl_helper.c
rename to flight/pios/stm32f10x/pios_bl_helper.c
diff --git a/flight/PiOS/stm32f10x/pios_debug.c b/flight/pios/stm32f10x/pios_debug.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_debug.c
rename to flight/pios/stm32f10x/pios_debug.c
diff --git a/flight/PiOS/stm32f10x/pios_delay.c b/flight/pios/stm32f10x/pios_delay.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_delay.c
rename to flight/pios/stm32f10x/pios_delay.c
diff --git a/flight/PiOS/stm32f10x/pios_dsm.c b/flight/pios/stm32f10x/pios_dsm.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_dsm.c
rename to flight/pios/stm32f10x/pios_dsm.c
diff --git a/flight/PiOS/stm32f10x/pios_eeprom.c b/flight/pios/stm32f10x/pios_eeprom.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_eeprom.c
rename to flight/pios/stm32f10x/pios_eeprom.c
diff --git a/flight/PiOS/stm32f10x/pios_exti.c b/flight/pios/stm32f10x/pios_exti.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_exti.c
rename to flight/pios/stm32f10x/pios_exti.c
diff --git a/flight/PiOS/stm32f10x/pios_gpio.c b/flight/pios/stm32f10x/pios_gpio.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_gpio.c
rename to flight/pios/stm32f10x/pios_gpio.c
diff --git a/flight/PiOS/stm32f10x/pios_i2c.c b/flight/pios/stm32f10x/pios_i2c.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_i2c.c
rename to flight/pios/stm32f10x/pios_i2c.c
diff --git a/flight/PiOS/stm32f10x/pios_irq.c b/flight/pios/stm32f10x/pios_irq.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_irq.c
rename to flight/pios/stm32f10x/pios_irq.c
diff --git a/flight/PiOS/stm32f10x/pios_led.c b/flight/pios/stm32f10x/pios_led.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_led.c
rename to flight/pios/stm32f10x/pios_led.c
diff --git a/flight/PiOS/stm32f10x/pios_ppm.c b/flight/pios/stm32f10x/pios_ppm.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_ppm.c
rename to flight/pios/stm32f10x/pios_ppm.c
diff --git a/flight/PiOS/stm32f10x/pios_ppm_out.c b/flight/pios/stm32f10x/pios_ppm_out.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_ppm_out.c
rename to flight/pios/stm32f10x/pios_ppm_out.c
diff --git a/flight/PiOS/stm32f10x/pios_pwm.c b/flight/pios/stm32f10x/pios_pwm.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_pwm.c
rename to flight/pios/stm32f10x/pios_pwm.c
diff --git a/flight/PiOS/stm32f10x/pios_rtc.c b/flight/pios/stm32f10x/pios_rtc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_rtc.c
rename to flight/pios/stm32f10x/pios_rtc.c
diff --git a/flight/PiOS/stm32f10x/pios_servo.c b/flight/pios/stm32f10x/pios_servo.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_servo.c
rename to flight/pios/stm32f10x/pios_servo.c
diff --git a/flight/PiOS/stm32f10x/pios_spi.c b/flight/pios/stm32f10x/pios_spi.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_spi.c
rename to flight/pios/stm32f10x/pios_spi.c
diff --git a/flight/PiOS/stm32f10x/pios_sys.c b/flight/pios/stm32f10x/pios_sys.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_sys.c
rename to flight/pios/stm32f10x/pios_sys.c
diff --git a/flight/PiOS/stm32f10x/pios_tim.c b/flight/pios/stm32f10x/pios_tim.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_tim.c
rename to flight/pios/stm32f10x/pios_tim.c
diff --git a/flight/PiOS/stm32f10x/pios_usart.c b/flight/pios/stm32f10x/pios_usart.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usart.c
rename to flight/pios/stm32f10x/pios_usart.c
diff --git a/flight/PiOS/stm32f10x/pios_usb.c b/flight/pios/stm32f10x/pios_usb.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb.c
rename to flight/pios/stm32f10x/pios_usb.c
diff --git a/flight/PiOS/stm32f10x/pios_usb_cdc.c b/flight/pios/stm32f10x/pios_usb_cdc.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb_cdc.c
rename to flight/pios/stm32f10x/pios_usb_cdc.c
diff --git a/flight/PiOS/stm32f10x/pios_usb_hid.c b/flight/pios/stm32f10x/pios_usb_hid.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb_hid.c
rename to flight/pios/stm32f10x/pios_usb_hid.c
diff --git a/flight/PiOS/stm32f10x/pios_usb_hid_istr.c b/flight/pios/stm32f10x/pios_usb_hid_istr.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb_hid_istr.c
rename to flight/pios/stm32f10x/pios_usb_hid_istr.c
diff --git a/flight/PiOS/stm32f10x/pios_usb_hid_pwr.c b/flight/pios/stm32f10x/pios_usb_hid_pwr.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb_hid_pwr.c
rename to flight/pios/stm32f10x/pios_usb_hid_pwr.c
diff --git a/flight/PiOS/stm32f10x/pios_usb_rctx.c b/flight/pios/stm32f10x/pios_usb_rctx.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usb_rctx.c
rename to flight/pios/stm32f10x/pios_usb_rctx.c
diff --git a/flight/PiOS/stm32f10x/pios_usbhook.c b/flight/pios/stm32f10x/pios_usbhook.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_usbhook.c
rename to flight/pios/stm32f10x/pios_usbhook.c
diff --git a/flight/PiOS/stm32f10x/pios_wdg.c b/flight/pios/stm32f10x/pios_wdg.c
similarity index 100%
rename from flight/PiOS/stm32f10x/pios_wdg.c
rename to flight/pios/stm32f10x/pios_wdg.c
diff --git a/flight/PiOS/stm32f10x/startup_stm32f10x_HD.S b/flight/pios/stm32f10x/startup_stm32f10x_HD.S
similarity index 100%
rename from flight/PiOS/stm32f10x/startup_stm32f10x_HD.S
rename to flight/pios/stm32f10x/startup_stm32f10x_HD.S
diff --git a/flight/PiOS/stm32f10x/startup_stm32f10x_HD_OP.S b/flight/pios/stm32f10x/startup_stm32f10x_HD_OP.S
similarity index 100%
rename from flight/PiOS/stm32f10x/startup_stm32f10x_HD_OP.S
rename to flight/pios/stm32f10x/startup_stm32f10x_HD_OP.S
diff --git a/flight/PiOS/stm32f10x/startup_stm32f10x_MD.S b/flight/pios/stm32f10x/startup_stm32f10x_MD.S
similarity index 100%
rename from flight/PiOS/stm32f10x/startup_stm32f10x_MD.S
rename to flight/pios/stm32f10x/startup_stm32f10x_MD.S
diff --git a/flight/PiOS/stm32f10x/startup_stm32f10x_MD_CC.S b/flight/pios/stm32f10x/startup_stm32f10x_MD_CC.S
similarity index 100%
rename from flight/PiOS/stm32f10x/startup_stm32f10x_MD_CC.S
rename to flight/pios/stm32f10x/startup_stm32f10x_MD_CC.S
diff --git a/flight/PiOS/stm32f10x/startup_stm32f10x_MD_PX.S b/flight/pios/stm32f10x/startup_stm32f10x_MD_PX.S
similarity index 100%
rename from flight/PiOS/stm32f10x/startup_stm32f10x_MD_PX.S
rename to flight/pios/stm32f10x/startup_stm32f10x_MD_PX.S
diff --git a/flight/PiOS/stm32f4xx/inc/pios_i2c_config.h b/flight/pios/stm32f4xx/inc/pios_i2c_config.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/inc/pios_i2c_config.h
rename to flight/pios/stm32f4xx/inc/pios_i2c_config.h
diff --git a/flight/PiOS/stm32f4xx/inc/pios_usart_config.h b/flight/pios/stm32f4xx/inc/pios_usart_config.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/inc/pios_usart_config.h
rename to flight/pios/stm32f4xx/inc/pios_usart_config.h
diff --git a/flight/PiOS/stm32f4xx/inc/stm32f4xx_conf.h b/flight/pios/stm32f4xx/inc/stm32f4xx_conf.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/inc/stm32f4xx_conf.h
rename to flight/pios/stm32f4xx/inc/stm32f4xx_conf.h
diff --git a/flight/PiOS/stm32f4xx/libraries/.no-auto-format b/flight/pios/stm32f4xx/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/.no-auto-format
rename to flight/pios/stm32f4xx/libraries/.no-auto-format
diff --git a/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h b/flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
rename to flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/stm32f4xx.h
diff --git a/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h b/flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
rename to flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
diff --git a/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c b/flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
rename to flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
diff --git a/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c b/flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
rename to flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
diff --git a/flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c b/flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
rename to flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c
diff --git a/flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/flight/pios/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
rename to flight/pios/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
diff --git a/flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/flight/pios/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
rename to flight/pios/stm32f4xx/libraries/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/misc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_can.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_aes.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_des.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_cryp_tdes.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dac.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_fsmc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_sha1.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_pwr.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rng.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rtc.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_sdio.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c b/flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
rename to flight/pios/stm32f4xx/libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_wwdg.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_conf.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_desc.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_core.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Core/src/usbd_req.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html b/flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
rename to flight/pios/stm32f4xx/libraries/STM32_USB_Device_Library/Release_Notes.html
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/Release_Notes.html
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_conf.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_core.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_otg.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_regs.h
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_bsp_template.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c
diff --git a/flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c b/flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
rename to flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_otg.c
diff --git a/flight/PiOS/stm32f4xx/library.mk b/flight/pios/stm32f4xx/library.mk
similarity index 100%
rename from flight/PiOS/stm32f4xx/library.mk
rename to flight/pios/stm32f4xx/library.mk
diff --git a/flight/PiOS/stm32f4xx/link_stm32f4xx_bl_memory.ld b/flight/pios/stm32f4xx/link_stm32f4xx_bl_memory.ld
similarity index 100%
rename from flight/PiOS/stm32f4xx/link_stm32f4xx_bl_memory.ld
rename to flight/pios/stm32f4xx/link_stm32f4xx_bl_memory.ld
diff --git a/flight/PiOS/stm32f4xx/link_stm32f4xx_fw_memory.ld b/flight/pios/stm32f4xx/link_stm32f4xx_fw_memory.ld
similarity index 100%
rename from flight/PiOS/stm32f4xx/link_stm32f4xx_fw_memory.ld
rename to flight/pios/stm32f4xx/link_stm32f4xx_fw_memory.ld
diff --git a/flight/PiOS/stm32f4xx/link_stm32f4xx_sections.ld b/flight/pios/stm32f4xx/link_stm32f4xx_sections.ld
similarity index 100%
rename from flight/PiOS/stm32f4xx/link_stm32f4xx_sections.ld
rename to flight/pios/stm32f4xx/link_stm32f4xx_sections.ld
diff --git a/flight/PiOS/stm32f4xx/pios_adc.c b/flight/pios/stm32f4xx/pios_adc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_adc.c
rename to flight/pios/stm32f4xx/pios_adc.c
diff --git a/flight/PiOS/stm32f4xx/pios_bkp.c b/flight/pios/stm32f4xx/pios_bkp.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_bkp.c
rename to flight/pios/stm32f4xx/pios_bkp.c
diff --git a/flight/PiOS/stm32f4xx/pios_bl_helper.c b/flight/pios/stm32f4xx/pios_bl_helper.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_bl_helper.c
rename to flight/pios/stm32f4xx/pios_bl_helper.c
diff --git a/flight/PiOS/stm32f4xx/pios_debug.c b/flight/pios/stm32f4xx/pios_debug.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_debug.c
rename to flight/pios/stm32f4xx/pios_debug.c
diff --git a/flight/PiOS/stm32f4xx/pios_delay.c b/flight/pios/stm32f4xx/pios_delay.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_delay.c
rename to flight/pios/stm32f4xx/pios_delay.c
diff --git a/flight/PiOS/stm32f4xx/pios_dsm.c b/flight/pios/stm32f4xx/pios_dsm.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_dsm.c
rename to flight/pios/stm32f4xx/pios_dsm.c
diff --git a/flight/PiOS/stm32f4xx/pios_exti.c b/flight/pios/stm32f4xx/pios_exti.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_exti.c
rename to flight/pios/stm32f4xx/pios_exti.c
diff --git a/flight/PiOS/stm32f4xx/pios_flash_internal.c b/flight/pios/stm32f4xx/pios_flash_internal.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_flash_internal.c
rename to flight/pios/stm32f4xx/pios_flash_internal.c
diff --git a/flight/PiOS/stm32f4xx/pios_gpio.c b/flight/pios/stm32f4xx/pios_gpio.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_gpio.c
rename to flight/pios/stm32f4xx/pios_gpio.c
diff --git a/flight/PiOS/stm32f4xx/pios_i2c.c b/flight/pios/stm32f4xx/pios_i2c.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_i2c.c
rename to flight/pios/stm32f4xx/pios_i2c.c
diff --git a/flight/PiOS/stm32f4xx/pios_irq.c b/flight/pios/stm32f4xx/pios_irq.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_irq.c
rename to flight/pios/stm32f4xx/pios_irq.c
diff --git a/flight/PiOS/stm32f4xx/pios_led.c b/flight/pios/stm32f4xx/pios_led.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_led.c
rename to flight/pios/stm32f4xx/pios_led.c
diff --git a/flight/PiOS/stm32f4xx/pios_overo.c b/flight/pios/stm32f4xx/pios_overo.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_overo.c
rename to flight/pios/stm32f4xx/pios_overo.c
diff --git a/flight/PiOS/stm32f4xx/pios_ppm.c b/flight/pios/stm32f4xx/pios_ppm.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_ppm.c
rename to flight/pios/stm32f4xx/pios_ppm.c
diff --git a/flight/PiOS/stm32f4xx/pios_pwm.c b/flight/pios/stm32f4xx/pios_pwm.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_pwm.c
rename to flight/pios/stm32f4xx/pios_pwm.c
diff --git a/flight/PiOS/stm32f4xx/pios_rtc.c b/flight/pios/stm32f4xx/pios_rtc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_rtc.c
rename to flight/pios/stm32f4xx/pios_rtc.c
diff --git a/flight/PiOS/stm32f4xx/pios_servo.c b/flight/pios/stm32f4xx/pios_servo.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_servo.c
rename to flight/pios/stm32f4xx/pios_servo.c
diff --git a/flight/PiOS/stm32f4xx/pios_spi.c b/flight/pios/stm32f4xx/pios_spi.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_spi.c
rename to flight/pios/stm32f4xx/pios_spi.c
diff --git a/flight/PiOS/stm32f4xx/pios_sys.c b/flight/pios/stm32f4xx/pios_sys.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_sys.c
rename to flight/pios/stm32f4xx/pios_sys.c
diff --git a/flight/PiOS/stm32f4xx/pios_tim.c b/flight/pios/stm32f4xx/pios_tim.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_tim.c
rename to flight/pios/stm32f4xx/pios_tim.c
diff --git a/flight/PiOS/stm32f4xx/pios_usart.c b/flight/pios/stm32f4xx/pios_usart.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_usart.c
rename to flight/pios/stm32f4xx/pios_usart.c
diff --git a/flight/PiOS/stm32f4xx/pios_usb.c b/flight/pios/stm32f4xx/pios_usb.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_usb.c
rename to flight/pios/stm32f4xx/pios_usb.c
diff --git a/flight/PiOS/stm32f4xx/pios_usb_cdc.c b/flight/pios/stm32f4xx/pios_usb_cdc.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_usb_cdc.c
rename to flight/pios/stm32f4xx/pios_usb_cdc.c
diff --git a/flight/PiOS/stm32f4xx/pios_usb_hid.c b/flight/pios/stm32f4xx/pios_usb_hid.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_usb_hid.c
rename to flight/pios/stm32f4xx/pios_usb_hid.c
diff --git a/flight/PiOS/stm32f4xx/pios_usbhook.c b/flight/pios/stm32f4xx/pios_usbhook.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_usbhook.c
rename to flight/pios/stm32f4xx/pios_usbhook.c
diff --git a/flight/PiOS/stm32f4xx/pios_wdg.c b/flight/pios/stm32f4xx/pios_wdg.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/pios_wdg.c
rename to flight/pios/stm32f4xx/pios_wdg.c
diff --git a/flight/PiOS/stm32f4xx/startup.c b/flight/pios/stm32f4xx/startup.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/startup.c
rename to flight/pios/stm32f4xx/startup.c
diff --git a/flight/PiOS/stm32f4xx/vectors_stm32f4xx.c b/flight/pios/stm32f4xx/vectors_stm32f4xx.c
similarity index 100%
rename from flight/PiOS/stm32f4xx/vectors_stm32f4xx.c
rename to flight/pios/stm32f4xx/vectors_stm32f4xx.c

From 9a538431681693c975cc8a6a3b1418f28961f5bf Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 13:19:06 +0300
Subject: [PATCH 124/125] Move flight/PiOS.win32->flight/pios/win32

It did not work and and is not fixed yet. But at least it is in place now.
---
 flight/{PiOS.win32 => pios/win32}/inc/FreeRTOSConfig.h            | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_com.h                  | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_com_priv.h             | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_crc.h                  | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_delay.h                | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_initcall.h             | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_led.h                  | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_posix.h                | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_sdcard.h               | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_servo.h                | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_sys.h                  | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_udp.h                  | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_udp_priv.h             | 0
 flight/{PiOS.win32 => pios/win32}/inc/pios_wdg.h                  | 0
 flight/{PiOS.win32 => pios/win32}/pios.h                          | 0
 flight/{PiOS.win32 => pios/win32}/win32/libraries/.no-auto-format | 0
 .../win32}/win32/libraries/FreeRTOS/Source/croutine.c             | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h     | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/StackMacros.h  | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/croutine.h     | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/list.h         | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/portable.h     | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/projdefs.h     | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/queue.h        | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/semphr.h       | 0
 .../win32}/win32/libraries/FreeRTOS/Source/include/task.h         | 0
 .../win32}/win32/libraries/FreeRTOS/Source/list.c                 | 0
 .../win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h   | 0
 .../win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c     | 0
 .../libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h      | 0
 .../win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c     | 0
 .../win32}/win32/libraries/FreeRTOS/Source/portable/readme.txt    | 0
 .../win32}/win32/libraries/FreeRTOS/Source/queue.c                | 0
 .../win32}/win32/libraries/FreeRTOS/Source/readme.txt             | 0
 .../win32}/win32/libraries/FreeRTOS/Source/tasks.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_com.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_crc.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_delay.c              | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_led.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_sdcard.c             | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_servo.c              | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_sys.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_udp.c                | 0
 flight/{PiOS.win32 => pios/win32}/win32/pios_wdg.c                | 0
 45 files changed, 0 insertions(+), 0 deletions(-)
 rename flight/{PiOS.win32 => pios/win32}/inc/FreeRTOSConfig.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_com.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_com_priv.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_crc.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_delay.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_initcall.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_led.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_posix.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_sdcard.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_servo.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_sys.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_udp.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_udp_priv.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/inc/pios_wdg.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/pios.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/.no-auto-format (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/croutine.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/StackMacros.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/croutine.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/list.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/portable.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/projdefs.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/queue.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/semphr.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/include/task.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/list.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/portable/readme.txt (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/queue.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/readme.txt (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/libraries/FreeRTOS/Source/tasks.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_com.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_crc.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_delay.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_led.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_sdcard.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_servo.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_sys.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_udp.c (100%)
 rename flight/{PiOS.win32 => pios/win32}/win32/pios_wdg.c (100%)

diff --git a/flight/PiOS.win32/inc/FreeRTOSConfig.h b/flight/pios/win32/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/PiOS.win32/inc/FreeRTOSConfig.h
rename to flight/pios/win32/inc/FreeRTOSConfig.h
diff --git a/flight/PiOS.win32/inc/pios_com.h b/flight/pios/win32/inc/pios_com.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_com.h
rename to flight/pios/win32/inc/pios_com.h
diff --git a/flight/PiOS.win32/inc/pios_com_priv.h b/flight/pios/win32/inc/pios_com_priv.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_com_priv.h
rename to flight/pios/win32/inc/pios_com_priv.h
diff --git a/flight/PiOS.win32/inc/pios_crc.h b/flight/pios/win32/inc/pios_crc.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_crc.h
rename to flight/pios/win32/inc/pios_crc.h
diff --git a/flight/PiOS.win32/inc/pios_delay.h b/flight/pios/win32/inc/pios_delay.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_delay.h
rename to flight/pios/win32/inc/pios_delay.h
diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/pios/win32/inc/pios_initcall.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_initcall.h
rename to flight/pios/win32/inc/pios_initcall.h
diff --git a/flight/PiOS.win32/inc/pios_led.h b/flight/pios/win32/inc/pios_led.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_led.h
rename to flight/pios/win32/inc/pios_led.h
diff --git a/flight/PiOS.win32/inc/pios_posix.h b/flight/pios/win32/inc/pios_posix.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_posix.h
rename to flight/pios/win32/inc/pios_posix.h
diff --git a/flight/PiOS.win32/inc/pios_sdcard.h b/flight/pios/win32/inc/pios_sdcard.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_sdcard.h
rename to flight/pios/win32/inc/pios_sdcard.h
diff --git a/flight/PiOS.win32/inc/pios_servo.h b/flight/pios/win32/inc/pios_servo.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_servo.h
rename to flight/pios/win32/inc/pios_servo.h
diff --git a/flight/PiOS.win32/inc/pios_sys.h b/flight/pios/win32/inc/pios_sys.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_sys.h
rename to flight/pios/win32/inc/pios_sys.h
diff --git a/flight/PiOS.win32/inc/pios_udp.h b/flight/pios/win32/inc/pios_udp.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_udp.h
rename to flight/pios/win32/inc/pios_udp.h
diff --git a/flight/PiOS.win32/inc/pios_udp_priv.h b/flight/pios/win32/inc/pios_udp_priv.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_udp_priv.h
rename to flight/pios/win32/inc/pios_udp_priv.h
diff --git a/flight/PiOS.win32/inc/pios_wdg.h b/flight/pios/win32/inc/pios_wdg.h
similarity index 100%
rename from flight/PiOS.win32/inc/pios_wdg.h
rename to flight/pios/win32/inc/pios_wdg.h
diff --git a/flight/PiOS.win32/pios.h b/flight/pios/win32/pios.h
similarity index 100%
rename from flight/PiOS.win32/pios.h
rename to flight/pios/win32/pios.h
diff --git a/flight/PiOS.win32/win32/libraries/.no-auto-format b/flight/pios/win32/win32/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/.no-auto-format
rename to flight/pios/win32/win32/libraries/.no-auto-format
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/croutine.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/croutine.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/croutine.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/croutine.c
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/FreeRTOS.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/StackMacros.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/croutine.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/croutine.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/croutine.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/croutine.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/list.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/list.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/list.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/list.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/mpu_wrappers.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/portable.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/portable.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/portable.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/portable.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/projdefs.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/projdefs.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/projdefs.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/projdefs.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/queue.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/queue.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/queue.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/queue.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/semphr.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/semphr.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/semphr.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/semphr.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/task.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/include/task.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/include/task.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/list.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/list.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/list.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/cpuemu.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h b/flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/GCC/Win32/portmacro.h
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/readme.txt b/flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/queue.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/queue.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/queue.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/readme.txt b/flight/pios/win32/win32/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/readme.txt
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS.win32/win32/libraries/FreeRTOS/Source/tasks.c b/flight/pios/win32/win32/libraries/FreeRTOS/Source/tasks.c
similarity index 100%
rename from flight/PiOS.win32/win32/libraries/FreeRTOS/Source/tasks.c
rename to flight/pios/win32/win32/libraries/FreeRTOS/Source/tasks.c
diff --git a/flight/PiOS.win32/win32/pios_com.c b/flight/pios/win32/win32/pios_com.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_com.c
rename to flight/pios/win32/win32/pios_com.c
diff --git a/flight/PiOS.win32/win32/pios_crc.c b/flight/pios/win32/win32/pios_crc.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_crc.c
rename to flight/pios/win32/win32/pios_crc.c
diff --git a/flight/PiOS.win32/win32/pios_delay.c b/flight/pios/win32/win32/pios_delay.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_delay.c
rename to flight/pios/win32/win32/pios_delay.c
diff --git a/flight/PiOS.win32/win32/pios_led.c b/flight/pios/win32/win32/pios_led.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_led.c
rename to flight/pios/win32/win32/pios_led.c
diff --git a/flight/PiOS.win32/win32/pios_sdcard.c b/flight/pios/win32/win32/pios_sdcard.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_sdcard.c
rename to flight/pios/win32/win32/pios_sdcard.c
diff --git a/flight/PiOS.win32/win32/pios_servo.c b/flight/pios/win32/win32/pios_servo.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_servo.c
rename to flight/pios/win32/win32/pios_servo.c
diff --git a/flight/PiOS.win32/win32/pios_sys.c b/flight/pios/win32/win32/pios_sys.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_sys.c
rename to flight/pios/win32/win32/pios_sys.c
diff --git a/flight/PiOS.win32/win32/pios_udp.c b/flight/pios/win32/win32/pios_udp.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_udp.c
rename to flight/pios/win32/win32/pios_udp.c
diff --git a/flight/PiOS.win32/win32/pios_wdg.c b/flight/pios/win32/win32/pios_wdg.c
similarity index 100%
rename from flight/PiOS.win32/win32/pios_wdg.c
rename to flight/pios/win32/win32/pios_wdg.c

From 7d5d513e75920c64a38f4ba578ced1bbbc745cf6 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Thu, 25 Apr 2013 13:23:47 +0300
Subject: [PATCH 125/125] Move flight/PiOS.osx->flight/pios/osx

It did not work and and is not fixed yet. But at least it is in place now.
---
 flight/{PiOS.osx => pios/osx}/inc/FreeRTOSConfig.h                | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_bl_helper.h                | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_board.h                    | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_board_info.h               | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_com.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_com_priv.h                 | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_crc.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_debug.h                    | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_delay.h                    | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_gcsrcvr_priv.h             | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_iap.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_initcall.h                 | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_irq.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_led.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_posix.h                    | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_rcvr.h                     | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_rcvr_priv.h                | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_sdcard.h                   | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_servo.h                    | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_sim.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_sim_priv.h                 | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_struct_helper.h            | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_sys.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_tcp.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_tcp_priv.h                 | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_udp.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_udp_priv.h                 | 0
 flight/{PiOS.osx => pios/osx}/inc/pios_wdg.h                      | 0
 flight/{PiOS.osx => pios/osx}/inc/sim_model.h                     | 0
 flight/{PiOS.osx => pios/osx}/osx/libraries/.no-auto-format       | 0
 .../osx}/osx/libraries/FreeRTOS/Source/croutine.c                 | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h         | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/StackMacros.h      | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/croutine.h         | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/list.h             | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h     | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/portable.h         | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/projdefs.h         | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/queue.h            | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/semphr.h           | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/task.h             | 0
 .../osx}/osx/libraries/FreeRTOS/Source/include/timers.h           | 0
 .../{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/list.c   | 0
 .../osx}/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c  | 0
 .../FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt   | 0
 .../osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h  | 0
 .../osx}/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c  | 0
 .../osx}/osx/libraries/FreeRTOS/Source/portable/readme.txt        | 0
 .../{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/queue.c  | 0
 .../osx}/osx/libraries/FreeRTOS/Source/readme.txt                 | 0
 .../{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/task.c   | 0
 .../{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/timers.c | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_bl_helper.c                | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_board_info.c               | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_com.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_crc.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_debug.c                    | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_delay.c                    | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_gcsrcvr.c                  | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_iap.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_irq.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_led.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_rcvr.c                     | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_sdcard.c                   | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_servo.c                    | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_sim.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_sys.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_tcp.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_udp.c                      | 0
 flight/{PiOS.osx => pios/osx}/osx/pios_wdg.c                      | 0
 flight/{PiOS.osx => pios/osx}/pios.h                              | 0
 71 files changed, 0 insertions(+), 0 deletions(-)
 rename flight/{PiOS.osx => pios/osx}/inc/FreeRTOSConfig.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_bl_helper.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_board.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_board_info.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_com.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_com_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_crc.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_debug.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_delay.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_gcsrcvr_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_iap.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_initcall.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_irq.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_led.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_posix.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_rcvr.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_rcvr_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_sdcard.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_servo.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_sim.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_sim_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_struct_helper.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_sys.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_tcp.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_tcp_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_udp.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_udp_priv.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/pios_wdg.h (100%)
 rename flight/{PiOS.osx => pios/osx}/inc/sim_model.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/.no-auto-format (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/croutine.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/StackMacros.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/croutine.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/list.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/portable.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/projdefs.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/queue.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/semphr.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/task.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/include/timers.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/list.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/portable/readme.txt (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/queue.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/readme.txt (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/task.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/libraries/FreeRTOS/Source/timers.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_bl_helper.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_board_info.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_com.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_crc.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_debug.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_delay.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_gcsrcvr.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_iap.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_irq.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_led.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_rcvr.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_sdcard.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_servo.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_sim.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_sys.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_tcp.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_udp.c (100%)
 rename flight/{PiOS.osx => pios/osx}/osx/pios_wdg.c (100%)
 rename flight/{PiOS.osx => pios/osx}/pios.h (100%)

diff --git a/flight/PiOS.osx/inc/FreeRTOSConfig.h b/flight/pios/osx/inc/FreeRTOSConfig.h
similarity index 100%
rename from flight/PiOS.osx/inc/FreeRTOSConfig.h
rename to flight/pios/osx/inc/FreeRTOSConfig.h
diff --git a/flight/PiOS.osx/inc/pios_bl_helper.h b/flight/pios/osx/inc/pios_bl_helper.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_bl_helper.h
rename to flight/pios/osx/inc/pios_bl_helper.h
diff --git a/flight/PiOS.osx/inc/pios_board.h b/flight/pios/osx/inc/pios_board.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_board.h
rename to flight/pios/osx/inc/pios_board.h
diff --git a/flight/PiOS.osx/inc/pios_board_info.h b/flight/pios/osx/inc/pios_board_info.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_board_info.h
rename to flight/pios/osx/inc/pios_board_info.h
diff --git a/flight/PiOS.osx/inc/pios_com.h b/flight/pios/osx/inc/pios_com.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_com.h
rename to flight/pios/osx/inc/pios_com.h
diff --git a/flight/PiOS.osx/inc/pios_com_priv.h b/flight/pios/osx/inc/pios_com_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_com_priv.h
rename to flight/pios/osx/inc/pios_com_priv.h
diff --git a/flight/PiOS.osx/inc/pios_crc.h b/flight/pios/osx/inc/pios_crc.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_crc.h
rename to flight/pios/osx/inc/pios_crc.h
diff --git a/flight/PiOS.osx/inc/pios_debug.h b/flight/pios/osx/inc/pios_debug.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_debug.h
rename to flight/pios/osx/inc/pios_debug.h
diff --git a/flight/PiOS.osx/inc/pios_delay.h b/flight/pios/osx/inc/pios_delay.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_delay.h
rename to flight/pios/osx/inc/pios_delay.h
diff --git a/flight/PiOS.osx/inc/pios_gcsrcvr_priv.h b/flight/pios/osx/inc/pios_gcsrcvr_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_gcsrcvr_priv.h
rename to flight/pios/osx/inc/pios_gcsrcvr_priv.h
diff --git a/flight/PiOS.osx/inc/pios_iap.h b/flight/pios/osx/inc/pios_iap.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_iap.h
rename to flight/pios/osx/inc/pios_iap.h
diff --git a/flight/PiOS.osx/inc/pios_initcall.h b/flight/pios/osx/inc/pios_initcall.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_initcall.h
rename to flight/pios/osx/inc/pios_initcall.h
diff --git a/flight/PiOS.osx/inc/pios_irq.h b/flight/pios/osx/inc/pios_irq.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_irq.h
rename to flight/pios/osx/inc/pios_irq.h
diff --git a/flight/PiOS.osx/inc/pios_led.h b/flight/pios/osx/inc/pios_led.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_led.h
rename to flight/pios/osx/inc/pios_led.h
diff --git a/flight/PiOS.osx/inc/pios_posix.h b/flight/pios/osx/inc/pios_posix.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_posix.h
rename to flight/pios/osx/inc/pios_posix.h
diff --git a/flight/PiOS.osx/inc/pios_rcvr.h b/flight/pios/osx/inc/pios_rcvr.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_rcvr.h
rename to flight/pios/osx/inc/pios_rcvr.h
diff --git a/flight/PiOS.osx/inc/pios_rcvr_priv.h b/flight/pios/osx/inc/pios_rcvr_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_rcvr_priv.h
rename to flight/pios/osx/inc/pios_rcvr_priv.h
diff --git a/flight/PiOS.osx/inc/pios_sdcard.h b/flight/pios/osx/inc/pios_sdcard.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_sdcard.h
rename to flight/pios/osx/inc/pios_sdcard.h
diff --git a/flight/PiOS.osx/inc/pios_servo.h b/flight/pios/osx/inc/pios_servo.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_servo.h
rename to flight/pios/osx/inc/pios_servo.h
diff --git a/flight/PiOS.osx/inc/pios_sim.h b/flight/pios/osx/inc/pios_sim.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_sim.h
rename to flight/pios/osx/inc/pios_sim.h
diff --git a/flight/PiOS.osx/inc/pios_sim_priv.h b/flight/pios/osx/inc/pios_sim_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_sim_priv.h
rename to flight/pios/osx/inc/pios_sim_priv.h
diff --git a/flight/PiOS.osx/inc/pios_struct_helper.h b/flight/pios/osx/inc/pios_struct_helper.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_struct_helper.h
rename to flight/pios/osx/inc/pios_struct_helper.h
diff --git a/flight/PiOS.osx/inc/pios_sys.h b/flight/pios/osx/inc/pios_sys.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_sys.h
rename to flight/pios/osx/inc/pios_sys.h
diff --git a/flight/PiOS.osx/inc/pios_tcp.h b/flight/pios/osx/inc/pios_tcp.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_tcp.h
rename to flight/pios/osx/inc/pios_tcp.h
diff --git a/flight/PiOS.osx/inc/pios_tcp_priv.h b/flight/pios/osx/inc/pios_tcp_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_tcp_priv.h
rename to flight/pios/osx/inc/pios_tcp_priv.h
diff --git a/flight/PiOS.osx/inc/pios_udp.h b/flight/pios/osx/inc/pios_udp.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_udp.h
rename to flight/pios/osx/inc/pios_udp.h
diff --git a/flight/PiOS.osx/inc/pios_udp_priv.h b/flight/pios/osx/inc/pios_udp_priv.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_udp_priv.h
rename to flight/pios/osx/inc/pios_udp_priv.h
diff --git a/flight/PiOS.osx/inc/pios_wdg.h b/flight/pios/osx/inc/pios_wdg.h
similarity index 100%
rename from flight/PiOS.osx/inc/pios_wdg.h
rename to flight/pios/osx/inc/pios_wdg.h
diff --git a/flight/PiOS.osx/inc/sim_model.h b/flight/pios/osx/inc/sim_model.h
similarity index 100%
rename from flight/PiOS.osx/inc/sim_model.h
rename to flight/pios/osx/inc/sim_model.h
diff --git a/flight/PiOS.osx/osx/libraries/.no-auto-format b/flight/pios/osx/osx/libraries/.no-auto-format
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/.no-auto-format
rename to flight/pios/osx/osx/libraries/.no-auto-format
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/croutine.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/croutine.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/croutine.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/croutine.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/FreeRTOS.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/StackMacros.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/croutine.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/croutine.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/croutine.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/croutine.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/list.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/list.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/list.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/list.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/mpu_wrappers.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/portable.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/portable.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/portable.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/portable.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/projdefs.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/projdefs.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/projdefs.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/projdefs.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/queue.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/queue.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/queue.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/queue.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/semphr.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/semphr.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/semphr.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/semphr.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/task.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/task.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/task.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/task.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/timers.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/include/timers.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/include/timers.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/include/timers.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/list.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/list.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/list.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/list.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt b/flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h b/flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/readme.txt b/flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/readme.txt
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/portable/readme.txt
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/portable/readme.txt
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/queue.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/queue.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/queue.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/queue.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/readme.txt b/flight/pios/osx/osx/libraries/FreeRTOS/Source/readme.txt
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/readme.txt
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/readme.txt
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/task.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/task.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/task.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/task.c
diff --git a/flight/PiOS.osx/osx/libraries/FreeRTOS/Source/timers.c b/flight/pios/osx/osx/libraries/FreeRTOS/Source/timers.c
similarity index 100%
rename from flight/PiOS.osx/osx/libraries/FreeRTOS/Source/timers.c
rename to flight/pios/osx/osx/libraries/FreeRTOS/Source/timers.c
diff --git a/flight/PiOS.osx/osx/pios_bl_helper.c b/flight/pios/osx/osx/pios_bl_helper.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_bl_helper.c
rename to flight/pios/osx/osx/pios_bl_helper.c
diff --git a/flight/PiOS.osx/osx/pios_board_info.c b/flight/pios/osx/osx/pios_board_info.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_board_info.c
rename to flight/pios/osx/osx/pios_board_info.c
diff --git a/flight/PiOS.osx/osx/pios_com.c b/flight/pios/osx/osx/pios_com.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_com.c
rename to flight/pios/osx/osx/pios_com.c
diff --git a/flight/PiOS.osx/osx/pios_crc.c b/flight/pios/osx/osx/pios_crc.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_crc.c
rename to flight/pios/osx/osx/pios_crc.c
diff --git a/flight/PiOS.osx/osx/pios_debug.c b/flight/pios/osx/osx/pios_debug.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_debug.c
rename to flight/pios/osx/osx/pios_debug.c
diff --git a/flight/PiOS.osx/osx/pios_delay.c b/flight/pios/osx/osx/pios_delay.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_delay.c
rename to flight/pios/osx/osx/pios_delay.c
diff --git a/flight/PiOS.osx/osx/pios_gcsrcvr.c b/flight/pios/osx/osx/pios_gcsrcvr.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_gcsrcvr.c
rename to flight/pios/osx/osx/pios_gcsrcvr.c
diff --git a/flight/PiOS.osx/osx/pios_iap.c b/flight/pios/osx/osx/pios_iap.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_iap.c
rename to flight/pios/osx/osx/pios_iap.c
diff --git a/flight/PiOS.osx/osx/pios_irq.c b/flight/pios/osx/osx/pios_irq.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_irq.c
rename to flight/pios/osx/osx/pios_irq.c
diff --git a/flight/PiOS.osx/osx/pios_led.c b/flight/pios/osx/osx/pios_led.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_led.c
rename to flight/pios/osx/osx/pios_led.c
diff --git a/flight/PiOS.osx/osx/pios_rcvr.c b/flight/pios/osx/osx/pios_rcvr.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_rcvr.c
rename to flight/pios/osx/osx/pios_rcvr.c
diff --git a/flight/PiOS.osx/osx/pios_sdcard.c b/flight/pios/osx/osx/pios_sdcard.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_sdcard.c
rename to flight/pios/osx/osx/pios_sdcard.c
diff --git a/flight/PiOS.osx/osx/pios_servo.c b/flight/pios/osx/osx/pios_servo.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_servo.c
rename to flight/pios/osx/osx/pios_servo.c
diff --git a/flight/PiOS.osx/osx/pios_sim.c b/flight/pios/osx/osx/pios_sim.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_sim.c
rename to flight/pios/osx/osx/pios_sim.c
diff --git a/flight/PiOS.osx/osx/pios_sys.c b/flight/pios/osx/osx/pios_sys.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_sys.c
rename to flight/pios/osx/osx/pios_sys.c
diff --git a/flight/PiOS.osx/osx/pios_tcp.c b/flight/pios/osx/osx/pios_tcp.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_tcp.c
rename to flight/pios/osx/osx/pios_tcp.c
diff --git a/flight/PiOS.osx/osx/pios_udp.c b/flight/pios/osx/osx/pios_udp.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_udp.c
rename to flight/pios/osx/osx/pios_udp.c
diff --git a/flight/PiOS.osx/osx/pios_wdg.c b/flight/pios/osx/osx/pios_wdg.c
similarity index 100%
rename from flight/PiOS.osx/osx/pios_wdg.c
rename to flight/pios/osx/osx/pios_wdg.c
diff --git a/flight/PiOS.osx/pios.h b/flight/pios/osx/pios.h
similarity index 100%
rename from flight/PiOS.osx/pios.h
rename to flight/pios/osx/pios.h