diff --git a/libraries/GPS_MTK/GPS_MTK.cpp b/libraries/GPS_MTK/GPS_MTK.cpp
deleted file mode 100644
index b6b1e10e6b..0000000000
--- a/libraries/GPS_MTK/GPS_MTK.cpp
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
-	GPS_MTK.cpp - Ublox GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 and ATMega1280/2560 (Serial port 1)
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : Costum protocol
-	Baud rate : 38400
-
-	Methods:
-		Init() : GPS Initialization
-		Read() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		Lattitude : Lattitude * 10,000,000 (long value)
-		Longitude : Longitude * 10,000,000 (long value)
-		Altitude :  Altitude * 100 (meters) (long value)
-		Ground_speed : Speed (m/s) * 100 (long value)
-		Ground_course : Course (degrees) * 100 (long value)
-		NewData : 1 when a new data is received.
-		          You need to write a 0 to NewData when you read the data
-		Fix : 0: GPS NO FIX or 2D FIX, 1: 3D FIX.
-			
-*/
-
-#include "GPS_MTK.h"
-#include <avr/interrupt.h>
-#include "WProgram.h"
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-GPS_MTK_Class::GPS_MTK_Class()
-{
-}
-
-
-// Public Methods //////////////////////////////////////////////////////////////
-void GPS_MTK_Class::Init(void)
-{
-	delay(200);
-	ck_a=0;
-	ck_b=0;
-	UBX_step=0;
-	NewData=0;
-	Fix=0;
-	PrintErrors=0;
-	GPS_timer=millis();   //Restarting timer...
-	// Initialize serial port
-	#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-		Serial1.begin(38400);         // Serial port 1 on ATMega1280/2560
-	#else
-		Serial.begin(38400);
-	#endif
-	Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
-	//Serial.println("sent config string");
-}
-
-// optimization : This code donīt wait for data, only proccess the data available
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function calls parse_ubx_gps() to parse and update the GPS info.
-void GPS_MTK_Class::Read(void)
-{
-  static unsigned long GPS_timer=0;
-  byte data;
-  int numc;
-  
-  #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)    // If AtMega1280/2560 then Serial port 1...
-	numc = Serial1.available();
-  #else
-	numc = Serial.available();
-  #endif
-  if (numc > 0)
-    for (int i=0;i<numc;i++)  // Process bytes received
-      {
-	  #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-        data = Serial1.read();
-      #else
-		data = Serial.read();
-	  #endif
-      switch(UBX_step)     //Normally we start from zero. This is a state machine
-      {
-      case 0:  
-        if(data==0xB5)  // UBX sync char 1
-          UBX_step++;   //OH first data packet is correct, so jump to the next step
-        break; 
-      case 1:  
-        if(data==0x62)  // UBX sync char 2
-          UBX_step++;   //ooh! The second data packet is correct, jump to the step 2
-        else 
-          UBX_step=0;   //Nop, is not correct so restart to step zero and try again.     
-        break;
-      case 2:
-        UBX_class=data;
-        ubx_checksum(UBX_class);
-        UBX_step++;
-        break;
-      case 3:
-        UBX_id=data;
-        UBX_step=4;
-        UBX_payload_length_hi=26;
-		UBX_payload_length_lo=0;
-		UBX_payload_counter=0;
-
-        ubx_checksum(UBX_id);
-        
-        break;
-      case 4:
-	if (UBX_payload_counter < UBX_payload_length_hi)  // We stay in this state until we reach the payload_length
-        {
-          UBX_buffer[UBX_payload_counter] = data;
-          ubx_checksum(data);
-          UBX_payload_counter++;
-          if (UBX_payload_counter==UBX_payload_length_hi)
-            UBX_step++;
-        }
-        break;
-      case 5:
-        UBX_ck_a=data;   // First checksum byte
-        UBX_step++;
-        break;
-      case 6:
-        UBX_ck_b=data;   // Second checksum byte
-       
-	  // We end the GPS read...
-        if((ck_a==UBX_ck_a)&&(ck_b==UBX_ck_b))   // Verify the received checksum with the generated checksum.. 
-	  		parse_ubx_gps();               // Parse the new GPS packet
-        else
-		  {
-		  if (PrintErrors)
-			Serial.println("ERR:GPS_CHK!!");
-		  }
-        // Variable initialization
-        UBX_step=0;
-        ck_a=0;
-        ck_b=0;
-        GPS_timer=millis(); //Restarting timer...
-        break;
-	  }
-    }    // End for...
-  // If we donīt receive GPS packets in 2 seconds => Bad FIX state
-  if ((millis() - GPS_timer)>2000)
-    {
-	Fix = 0;
-	if (PrintErrors)
-	  Serial.println("ERR:GPS_TIMEOUT!!");
-    }
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-// Private Methods //////////////////////////////////////////////////////////////
-void GPS_MTK_Class::parse_ubx_gps(void)
-{
-  int j;
-//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
-//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
-  if(UBX_class==0x01) 
-  {
-    switch(UBX_id)//Checking the UBX ID
-    {
-
-
-    case 0x05: //ID Custom
-      j=0;
-      Lattitude= join_4_bytes(&UBX_buffer[j]) * 10; // lon*10,000,000
-      j+=4;
-      Longitude = join_4_bytes(&UBX_buffer[j]) * 10; // lat*10000000
-      j+=4;
-      Altitude = join_4_bytes(&UBX_buffer[j]);  // MSL
-      j+=4;
-	  Ground_Speed = join_4_bytes(&UBX_buffer[j]);
-      j+=4;
-	  Ground_Course = join_4_bytes(&UBX_buffer[j]) / 10000; // Heading 2D
-      j+=4;
-	  NumSats=UBX_buffer[j];
-	  j++;
-	  Fix=UBX_buffer[j];
-	  if (Fix==3)
-		Fix = 1;
-	  else
-		Fix = 0;
-      j++;
-	  Time = join_4_bytes(&UBX_buffer[j]);
-      NewData=1;
-      break;
-
-      }
-    }   
-}
-
-
-/****************************************************************
- * 
- ****************************************************************/
- // Join 4 bytes into a long
-long GPS_MTK_Class::join_4_bytes(unsigned char Buffer[])
-{
-  union long_union {
-	int32_t dword;
-	uint8_t  byte[4];
-} longUnion;
-
-  longUnion.byte[3] = *Buffer;
-  longUnion.byte[2] = *(Buffer+1);
-  longUnion.byte[1] = *(Buffer+2);
-  longUnion.byte[0] = *(Buffer+3);
-  return(longUnion.dword);
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-// checksum algorithm
-void GPS_MTK_Class::ubx_checksum(byte ubx_data)
-{
-  ck_a+=ubx_data;
-  ck_b+=ck_a; 
-}
-
-GPS_MTK_Class GPS;
\ No newline at end of file
diff --git a/libraries/GPS_MTK/GPS_MTK.h b/libraries/GPS_MTK/GPS_MTK.h
deleted file mode 100644
index 94c7607621..0000000000
--- a/libraries/GPS_MTK/GPS_MTK.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef GPS_MTK_h
-#define GPS_MTK_h
-
-#include <inttypes.h>
-
-#define UBX_MAXPAYLOAD 60
-
-class GPS_MTK_Class
-{
-  private:
-    // Internal variables
-	uint8_t ck_a;     // Packet checksum
-	uint8_t ck_b;
-	uint8_t UBX_step;
-	uint8_t UBX_class;
-	uint8_t UBX_id;
-	uint8_t UBX_payload_length_hi;
-	uint8_t UBX_payload_length_lo;
-	uint8_t UBX_payload_counter;
-	uint8_t UBX_buffer[UBX_MAXPAYLOAD];
-	uint8_t UBX_ck_a;
-	uint8_t UBX_ck_b;
-	long GPS_timer;
-	long UBX_ecefVZ;
-	void parse_ubx_gps();
-	void ubx_checksum(unsigned char ubx_data);
-	long join_4_bytes(unsigned char Buffer[]);
-
-  public:
-    // Methods
-	GPS_MTK_Class();
-	void Init();
-	void Read();
-	// Properties
-	long Time;          //GPS Millisecond Time of Week
-	long Lattitude;     // Geographic coordinates
-	long Longitude;
-	long Altitude;
-	long Ground_Speed;
-	long Ground_Course;
-	uint8_t NumSats;      // Number of visible satelites
-	uint8_t Fix;        // 1:GPS FIX   0:No FIX (normal logic)
-	uint8_t NewData;    // 1:New GPS Data
-	uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
-};
-
-extern GPS_MTK_Class GPS;
-
-#endif
\ No newline at end of file
diff --git a/libraries/GPS_MTK/examples/GPS_MTK_test/GPS_MTK_test.pde b/libraries/GPS_MTK/examples/GPS_MTK_test/GPS_MTK_test.pde
deleted file mode 100644
index 6b52cd136d..0000000000
--- a/libraries/GPS_MTK/examples/GPS_MTK_test/GPS_MTK_test.pde
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-  Example of GPS MTK library.
-  Code by Jordi Muïŋ―oz and Jose Julio. DIYDrones.com
-
-  Works with Ardupilot Mega Hardware (GPS on Serial Port1)
-  and with standard ATMega168 and ATMega328 on Serial Port 0
-*/
-
-#include <GPS_MTK.h> // UBLOX GPS Library
-
-#define T6 1000000
-#define T7 10000000
-
-void setup()
-{
-  Serial.begin(38400);
-  Serial.println("GPS MTK library test");
-  GPS.Init();   // GPS Initialization
-  delay(1000);
-}
-void loop()
-{
-  GPS.Read();
-  if (GPS.NewData)  // New GPS data?
-    {
-    Serial.print("GPS:");
-    Serial.print(" Lat:");
-    Serial.print((float)GPS.Lattitude/T7, DEC);
-    Serial.print(" Lon:");
-    Serial.print((float)GPS.Longitude/T7, DEC);
-    Serial.print(" Alt:");
-    Serial.print((float)GPS.Altitude/100.0, DEC);
-    Serial.print(" GSP:");
-    Serial.print((float)GPS.Ground_Speed/100.0, DEC);
-    Serial.print(" COG:");
-    Serial.print(GPS.Ground_Course/100.0, DEC);
-    Serial.print(" SAT:");
-    Serial.print((int)GPS.NumSats);
-    Serial.print(" FIX:");
-    Serial.print((int)GPS.Fix);
-    Serial.print(" TIM:");
-    Serial.print(GPS.Time);
-    Serial.println();
-    GPS.NewData = 0; // We have readed the data
-    }
-  delay(20);
-}
diff --git a/libraries/GPS_MTK/examples/GPS_MTK_test/Makefile b/libraries/GPS_MTK/examples/GPS_MTK_test/Makefile
deleted file mode 100644
index 85b4d8856b..0000000000
--- a/libraries/GPS_MTK/examples/GPS_MTK_test/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/GPS_MTK/keywords.txt b/libraries/GPS_MTK/keywords.txt
deleted file mode 100644
index d6d013b52b..0000000000
--- a/libraries/GPS_MTK/keywords.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-GPS	KEYWORD1
-GPS_MTK	KEYWORD1
-Init	KEYWORD2
-Read	KEYWORD2
-Time	KEYWORD2
-Lattitude	KEYWORD2
-Longitude	KEYWORD2
-Altitude	KEYWORD2
-Ground_Speed	KEYWORD2
-Ground_Course	KEYWORD2
-Speed_3d	KEYWORD2
-NumSats	KEYWORD2
-Fix	KEYWORD2
-NewData	KEYWORD2
-
-
diff --git a/libraries/GPS_NMEA/GPS_NMEA.cpp b/libraries/GPS_NMEA/GPS_NMEA.cpp
deleted file mode 100644
index a8adc1a90b..0000000000
--- a/libraries/GPS_NMEA/GPS_NMEA.cpp
+++ /dev/null
@@ -1,272 +0,0 @@
-/*
-	GPS_NMEA.cpp - Generic NMEA GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 and ATMega1280/2560 (Serial port 1)
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : NMEA protocol
-	Baud rate : 38400
-	NMEA Sentences : 
-		$GPGGA : Global Positioning System Fix Data
-		$GPVTG : Ttack and Ground Speed
-		
-	Methods:
-		Init() : GPS Initialization
-		Read() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		Lattitude : Lattitude * 10000000 (long value)
-		Longitude : Longitude * 10000000 (long value)
-		Altitude :  Altitude * 1000 (milimeters) (long value)
-		Ground_speed : Speed (m/s) * 100 (long value)
-		Ground_course : Course (degrees) * 100 (long value)
-		Type : 2 (This indicate that we are using the Generic NMEA library)
-		NewData : 1 when a new data is received.
-		          You need to write a 0 to NewData when you read the data
-		Fix : >=1: GPS FIX, 0: No Fix (normal logic)
-		Quality : 0 = No Fix
-		           1 = Bad (Num sats < 5)
-				   2 = Poor
-				   3 = Medium
-				   4 = Good
-
-   NOTE : This code has been tested on a Locosys 20031 GPS receiver (MTK chipset)
-*/
-
-#include "GPS_NMEA.h"
-
-#include <avr/interrupt.h>
-#include "WProgram.h"
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-GPS_NMEA_Class::GPS_NMEA_Class()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void GPS_NMEA_Class::Init(void)
-{
-	Type = 2;
-	GPS_checksum_calc = false;
-	bufferidx = 0;
-	NewData=0;
-	Fix=0;
-	Quality=0;
-	PrintErrors=0;	
-	// Initialize serial port
-	#if defined(__AVR_ATmega1280__)|| defined(__AVR_ATmega2560__)
-		Serial1.begin(38400);         // Serial port 1 on ATMega1280/2560
-	#else
-		Serial.begin(38400);
-	#endif
-}
-
-// This code donīt wait for data, only proccess the data available on serial port
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function call parse_nmea_gps() to parse and update the GPS info.
-void GPS_NMEA_Class::Read(void)
-{
-  char c;
-  int numc;
-  int i;
- 
-  
-  #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)    // If AtMega1280/2560 then Serial port 1...
-	numc = Serial1.available();    
-  #else
-	numc = Serial.available();
-  #endif
-  if (numc > 0)
-    for (i=0;i<numc;i++){
-      #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)    // If AtMega1280/2560 then Serial port 1...
-	  c = Serial1.read();   
-      #else
-	  c = Serial.read();
-      #endif
-      if (c == '$'){                      // NMEA Start
-        bufferidx = 0;
-        buffer[bufferidx++] = c;
-        GPS_checksum = 0;
-        GPS_checksum_calc = true;
-        continue;
-        }
-      if (c == '\r'){                     // NMEA End
-        buffer[bufferidx++] = 0;
-		parse_nmea_gps();
-        }
-      else {
-        if (bufferidx < (GPS_BUFFERSIZE-1)){
-          if (c == '*')
-            GPS_checksum_calc = false;    // Checksum calculation end
-          buffer[bufferidx++] = c;
-          if (GPS_checksum_calc)
-            GPS_checksum ^= c;            // XOR 
-          }
-		else
-		  bufferidx=0;   // Buffer overflow : restart
-        }
-    }   
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-// Private Methods //////////////////////////////////////////////////////////////
-void GPS_NMEA_Class::parse_nmea_gps(void)
-{
-  byte NMEA_check;
-  long aux_deg;
-  long aux_min;
-  char *parseptr;
-
-  
-  if (strncmp(buffer,"$GPGGA",6)==0){        // Check if sentence begins with $GPGGA
-    if (buffer[bufferidx-4]=='*'){           // Check for the "*" character
-      NMEA_check = parseHex(buffer[bufferidx-3])*16 + parseHex(buffer[bufferidx-2]);    // Read the checksums characters
-      if (GPS_checksum == NMEA_check){      // Checksum validation
-        //Serial.println("buffer");
-		NewData = 1;  // New GPS Data
-        parseptr = strchr(buffer, ',')+1;
-        //parseptr = strchr(parseptr, ',')+1;
-		Time = parsenumber(parseptr,2);          // GPS UTC time hhmmss.ss
-		parseptr = strchr(parseptr, ',')+1;
-		//
-        aux_deg = parsedecimal(parseptr,2);      // degrees
-        aux_min = parsenumber(parseptr+2,4);     // minutes (sexagesimal) => Convert to decimal
-        Lattitude = aux_deg*10000000 + (aux_min*50)/3;   // degrees + minutes/0.6  (*10000000) (0.6 = 3/5)
-        parseptr = strchr(parseptr, ',')+1;
-		//
-		if (*parseptr=='S')
-		  Lattitude = -1*Lattitude;              // South Lattitudes are negative
-		//
-        parseptr = strchr(parseptr, ',')+1;
-        // W Longitudes are Negative
-        aux_deg = parsedecimal(parseptr,3);      // degrees
-        aux_min = parsenumber(parseptr+3,4);     // minutes (sexagesimal)
-        Longitude = aux_deg*10000000 + (aux_min*50)/3;  // degrees + minutes/0.6 (*10000000)
-        //Longitude = -1*Longitude;                   // This Assumes that we are in W longitudes...
-        parseptr = strchr(parseptr, ',')+1;
-		//
-		if (*parseptr=='W')
-		  Longitude = -1*Longitude;              // West Longitudes are negative
-		//
-        parseptr = strchr(parseptr, ',')+1;
-        Fix = parsedecimal(parseptr,1);
-        parseptr = strchr(parseptr, ',')+1;
-        NumSats = parsedecimal(parseptr,2);
-        parseptr = strchr(parseptr, ',')+1; 
-        HDOP = parsenumber(parseptr,1);          // HDOP * 10
-        parseptr = strchr(parseptr, ',')+1;
-        Altitude = parsenumber(parseptr,1)*100;  // Altitude in decimeters*100 = milimeters
-		if (Fix < 1)
-		  Quality = 0;      // No FIX
-		else if(NumSats<5)
-		  Quality = 1;      // Bad (Num sats < 5)
-		else if(HDOP>30)
-		  Quality = 2;      // Poor (HDOP > 30)
-		else if(HDOP>25)
-		  Quality = 3;      // Medium (HDOP > 25)
-		else
-		  Quality = 4;      // Good (HDOP < 25)
-        }
-	  else
-	    {
-		if (PrintErrors)
-	      Serial.println("GPSERR: Checksum error!!");
-	    }
-      }
-    }
-  else if (strncmp(buffer,"$GPVTG",6)==0){        // Check if sentence begins with $GPVTG
-    //Serial.println(buffer);
-    if (buffer[bufferidx-4]=='*'){           // Check for the "*" character
-      NMEA_check = parseHex(buffer[bufferidx-3])*16 + parseHex(buffer[bufferidx-2]);    // Read the checksums characters
-      if (GPS_checksum == NMEA_check){      // Checksum validation
-        parseptr = strchr(buffer, ',')+1;
-        Ground_Course = parsenumber(parseptr,2);      // Ground course in degrees * 100
-        parseptr = strchr(parseptr, ',')+1;
-        parseptr = strchr(parseptr, ',')+1;
-        parseptr = strchr(parseptr, ',')+1;
-        parseptr = strchr(parseptr, ',')+1;
-        parseptr = strchr(parseptr, ',')+1;
-        parseptr = strchr(parseptr, ',')+1;
-        Ground_Speed = parsenumber(parseptr,2)*10/36; // Convert Km/h to m/s (*100)
-        //GPS_line = true;
-        }
-	  else
-	    {
-		if (PrintErrors)
-	      Serial.println("GPSERR: Checksum error!!");
-	    }
-    }
-  }
-  else
-    {
-	bufferidx = 0;
-	if (PrintErrors)
-	  Serial.println("GPSERR: Bad sentence!!");
-    }
-}
-
-
-/****************************************************************
- * 
- ****************************************************************/
- // Parse hexadecimal numbers
-byte GPS_NMEA_Class::parseHex(char c) {
-    if (c < '0')
-      return (0);
-    if (c <= '9')
-      return (c - '0');
-    if (c < 'A')
-       return (0);
-    if (c <= 'F')
-       return ((c - 'A')+10);
-}
-
-// Decimal number parser
-long GPS_NMEA_Class::parsedecimal(char *str,byte num_car) {
-  long d = 0;
-  byte i;
-  
-  i = num_car;
-  while ((str[0] != 0)&&(i>0)) {
-     if ((str[0] > '9') || (str[0] < '0'))
-       return d;
-     d *= 10;
-     d += str[0] - '0';
-     str++;
-     i--;
-     }
-  return d;
-}
-
-// Function to parse fixed point numbers (numdec=number of decimals)
-long GPS_NMEA_Class::parsenumber(char *str,byte numdec) {
-  long d = 0;
-  byte ndec = 0;
-  
-  while (str[0] != 0) {
-     if (str[0] == '.'){
-       ndec = 1;
-     }
-     else {
-       if ((str[0] > '9') || (str[0] < '0'))
-         return d;
-       d *= 10;
-       d += str[0] - '0';
-       if (ndec > 0)
-         ndec++;
-       if (ndec > numdec)   // we reach the number of decimals...
-         return d;
-       }
-     str++;
-     }
-  return d;
-}
-
-GPS_NMEA_Class GPS; 
\ No newline at end of file
diff --git a/libraries/GPS_NMEA/GPS_NMEA.h b/libraries/GPS_NMEA/GPS_NMEA.h
deleted file mode 100644
index 56233a7ee6..0000000000
--- a/libraries/GPS_NMEA/GPS_NMEA.h
+++ /dev/null
@@ -1,46 +0,0 @@
-#ifndef GPS_NMEA_h
-#define GPS_NMEA_h
-
-#include <inttypes.h>
-
-#define GPS_BUFFERSIZE 120 
-
-class GPS_NMEA_Class
-{
-  private:
-    // Internal variables
-    uint8_t GPS_checksum;
-    uint8_t GPS_checksum_calc;
-	char buffer[GPS_BUFFERSIZE];
-	int bufferidx;
-
-	void parse_nmea_gps(void);
-	uint8_t parseHex(char c);
-	long parsedecimal(char *str,uint8_t num_car);
-	long parsenumber(char *str,uint8_t numdec);
-
-  public:
-    // Methods
-	GPS_NMEA_Class();
-	void Init();
-	void Read();
-	// Properties
-	long Time;          //GPS Millisecond Time of Week
-	long Lattitude;     // Geographic coordinates
-	long Longitude;
-	long Altitude;
-	long Ground_Speed;
-	long Speed_3d;      //Speed (3-D)
-	long Ground_Course;
-	uint8_t Type;       // Type of GPS (library used)
-	uint8_t NumSats;    // Number of visible satelites
-	uint8_t Fix;        // >=1:GPS FIX   0:No FIX (normal logic)
-	uint8_t Quality;    // GPS Signal quality
-	uint8_t NewData;    // 1:New GPS Data
-	uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
-	int HDOP;            // HDOP
-};
-
-extern GPS_NMEA_Class GPS;
-
-#endif
\ No newline at end of file
diff --git a/libraries/GPS_NMEA/examples/GPS_NMEA_test/GPS_NMEA_test.pde b/libraries/GPS_NMEA/examples/GPS_NMEA_test/GPS_NMEA_test.pde
deleted file mode 100644
index 3b5deeeb6a..0000000000
--- a/libraries/GPS_NMEA/examples/GPS_NMEA_test/GPS_NMEA_test.pde
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-  Example of GPS NMEA library.
-  Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-
-  Works with Ardupilot Mega Hardware (GPS on Serial Port1)
-  and with standard ATMega168 and ATMega328 on Serial Port 0
-*/
-
-#include <GPS_NMEA.h> // NMEA GPS Library
-
-void setup()
-{
-  Serial.begin(57600);
-  Serial.println("GPS NMEA library test");
-  GPS.Init();   // GPS Initialization
-  delay(1000);
-}
-void loop()
-{
-  GPS.Read();
-  if (GPS.NewData)  // New GPS data?
-    {
-    Serial.print("GPS:");
-    Serial.print(" Time:");
-    Serial.print(GPS.Time);
-    Serial.print(" Fix:");
-    Serial.print((int)GPS.Fix);
-    Serial.print(" Lat:");
-    Serial.print(GPS.Lattitude);
-    Serial.print(" Lon:");
-    Serial.print(GPS.Longitude);
-    Serial.print(" Alt:");
-    Serial.print(GPS.Altitude/1000.0);
-    Serial.print(" Speed:");
-    Serial.print(GPS.Ground_Speed/100.0);
-    Serial.print(" Course:");
-    Serial.print(GPS.Ground_Course/100.0);
-    Serial.println();
-    GPS.NewData = 0; // We have readed the data
-    }
-  delay(20);
-}
\ No newline at end of file
diff --git a/libraries/GPS_NMEA/examples/GPS_NMEA_test/Makefile b/libraries/GPS_NMEA/examples/GPS_NMEA_test/Makefile
deleted file mode 100644
index 85b4d8856b..0000000000
--- a/libraries/GPS_NMEA/examples/GPS_NMEA_test/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/GPS_NMEA/keywords.txt b/libraries/GPS_NMEA/keywords.txt
deleted file mode 100644
index dada2f8982..0000000000
--- a/libraries/GPS_NMEA/keywords.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-GPS	KEYWORD1
-GPS_NMEA	KEYWORD1
-Init	KEYWORD2
-Read	KEYWORD2
-Type	KEYWORD2
-Time	KEYWORD2
-Lattitude	KEYWORD2
-Longitude	KEYWORD2
-Altitude	KEYWORD2
-Ground_Speed	KETWORD2
-Ground_Course	KEYWORD2
-Speed_3d	KEYWORD2
-NumSats	KEYWORD2
-Fix	KEYWORD2
-NewData	KEYWORD2
-Quality	KEYWORD2
-
-
diff --git a/libraries/GPS_UBLOX/GPS_UBLOX.cpp b/libraries/GPS_UBLOX/GPS_UBLOX.cpp
deleted file mode 100644
index 3c18559fe0..0000000000
--- a/libraries/GPS_UBLOX/GPS_UBLOX.cpp
+++ /dev/null
@@ -1,274 +0,0 @@
-/*
-	GPS_UBLOX.cpp - Ublox GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168 / 328 and ATMega1280/2560 (Serial port 1)
-
-	This library is free software; you can redistribute it and / or
-		modify it under the terms of the GNU Lesser General Public
-		License as published by the Free Software Foundation; either
-		version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : Ublox protocol
-	Baud rate : 38400
-	Active messages : 
-		NAV - POSLLH Geodetic Position Solution, PAGE 66 of datasheet
-		NAV - VELNED Velocity Solution in NED, PAGE 71 of datasheet
-		NAV - STATUS Receiver Navigation Status
-			or 
-		NAV - SOL Navigation Solution Information
-
-	Methods:
-		Init() : GPS Initialization
-		Read() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		Lattitude : Lattitude * 10,000,000 (long value)
-		Longitude : Longitude * 10,000,000 (long value)
-		Altitude :	Altitude * 100 (meters) (long value)
-		Ground_speed : Speed (m / s) * 100 (long value)
-		Ground_course : Course (degrees) * 100 (long value)
-		NewData : 1 when a new data is received.
-							You need to write a 0 to NewData when you read the data
-		Fix : 1: GPS FIX, 0: No Fix (normal logic)
-			
-*/
-
-#include "GPS_UBLOX.h"
-
-#include <avr/interrupt.h>
-#include "WProgram.h"
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-GPS_UBLOX_Class::GPS_UBLOX_Class()
-{
-}
-
-
-// Public Methods //////////////////////////////////////////////////////////////
-void GPS_UBLOX_Class::Init(void)
-{
-	ck_a = 0;
-	ck_b = 0;
-	UBX_step = 0;
-	NewData = 0;
-	Fix = 0;
-	PrintErrors = 0;
-	GPS_timer = millis();	 // Restarting timer...
-	// Initialize serial port
-	#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-		Serial1.begin(38400);				 // Serial port 1 on ATMega1280/2560
-	#else
-		Serial.begin(38400);
-	#endif
-}
-
-// optimization : This code donīt wait for data, only proccess the data available
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function calls parse_ubx_gps() to parse and update the GPS info.
-void GPS_UBLOX_Class::Read(void)
-{
-	static unsigned long GPS_timer = 0;
-	byte data;
-	int numc;
-	
-	#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)		// If AtMega1280/2560 then Serial port 1...
-	numc = Serial1.available();
-	#else
-	numc = Serial.available();
-	#endif
-	if (numc > 0)
-		for (int i = 0; i < numc; i++)	// Process bytes received
-			{
-		#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-			data = Serial1.read();
-		#else
-			data = Serial.read();
-		#endif
-			switch(UBX_step)		 // Normally we start from zero. This is a state machine
-			{
-			case 0:	
-				if(data == 0xB5)	// UBX sync char 1
-					UBX_step++;	 // OH first data packet is correct, so jump to the next step
-				break; 
-			case 1:	
-				if(data == 0x62)	// UBX sync char 2
-					UBX_step++;	 // ooh! The second data packet is correct, jump to the step 2
-				else 
-					UBX_step = 0;	 // Nop, is not correct so restart to step zero and try again.		 
-				break;
-			case 2:
-				UBX_class = data;
-				ubx_checksum(UBX_class);
-				UBX_step++;
-				break;
-			case 3:
-				UBX_id = data;
-				ubx_checksum(UBX_id);
-				UBX_step++;
-				break;
-			case 4:
-				UBX_payload_length_hi = data;
-				ubx_checksum(UBX_payload_length_hi);
-				UBX_step++;
-		// We check if the payload lenght is valid...
-		if (UBX_payload_length_hi >= UBX_MAXPAYLOAD)
-				{
-			if (PrintErrors)
-			Serial.println("ERR:GPS_BAD_PAYLOAD_LENGTH!!");          
-					UBX_step = 0;	 // Bad data, so restart to step zero and try again.		 
-					ck_a = 0;
-					ck_b = 0;
-				}
-				break;
-			case 5:
-				UBX_payload_length_lo = data;
-				ubx_checksum(UBX_payload_length_lo);
-				UBX_step++;
-		UBX_payload_counter = 0;
-				break;
-			case 6:				 // Payload data read...
-	if (UBX_payload_counter < UBX_payload_length_hi)	// We stay in this state until we reach the payload_length
-				{
-					UBX_buffer[UBX_payload_counter] = data;
-					ubx_checksum(data);
-					UBX_payload_counter++;
-					if (UBX_payload_counter == UBX_payload_length_hi)
-						UBX_step++;
-				}
-				break;
-			case 7:
-				UBX_ck_a = data;	 // First checksum byte
-				UBX_step++;
-				break;
-			case 8:
-				UBX_ck_b = data;	 // Second checksum byte
-			 
-	  // We end the GPS read...
-				if((ck_a == UBX_ck_a) && (ck_b == UBX_ck_b))	 // Verify the received checksum with the generated checksum.. 
-				parse_ubx_gps();							 // Parse the new GPS packet
-				else
-			{
-			if (PrintErrors)
-			Serial.println("ERR:GPS_CHK!!");
-			}
-        // Variable initialization
-				UBX_step = 0;
-				ck_a = 0;
-				ck_b = 0;
-				GPS_timer = millis(); // Restarting timer...
-				break;
-		}
-		}		// End for...
-  // If we donīt receive GPS packets in 2 seconds => Bad FIX state
-	if ((millis() - GPS_timer) > 2000)
-		{
-	Fix = 0;
-	if (PrintErrors)
-	  Serial.println("ERR:GPS_TIMEOUT!!");
-		}
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-// Private Methods //////////////////////////////////////////////////////////////
-void GPS_UBLOX_Class::parse_ubx_gps(void)
-{
-	int j;
-//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
-//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
-	if(UBX_class == 0x01) 
-	{
-		switch(UBX_id) //Checking the UBX ID
-		{
-		case 0x02: // ID NAV - POSLLH 
-			j = 0;
-			Time = join_4_bytes(&UBX_buffer[j]); // ms Time of week
-			j += 4;
-			Longitude = join_4_bytes(&UBX_buffer[j]); // lon * 10000000
-			j += 4;
-			Lattitude = join_4_bytes(&UBX_buffer[j]); // lat * 10000000
-			j += 4;
-     		 //Altitude = join_4_bytes(&UBX_buffer[j]);  // elipsoid heigth mm
-			j += 4;
-			Altitude = (float)join_4_bytes(&UBX_buffer[j]);	// MSL heigth mm
-			Altitude /= 10.;									
-			
-			// Rescale altitude to cm
-	      	//j+=4;
-    		/*
-			hacc = (float)join_4_bytes(&UBX_buffer[j]) / (float)1000;
-			j += 4;
-			vacc = (float)join_4_bytes(&UBX_buffer[j]) / (float)1000;
-			j += 4;
-			*/
-			NewData = 1;
-			break;
-		case 0x03: //ID NAV - STATUS 
-      //if(UBX_buffer[4] >= 0x03)
-		if((UBX_buffer[4] >= 0x03) && (UBX_buffer[5] & 0x01))				
-				Fix = 1; // valid position				
-			else
-				Fix = 0; // invalid position
-			break;
-
-		case 0x06: //ID NAV - SOL
-			if((UBX_buffer[10] >= 0x03) && (UBX_buffer[11] & 0x01))
-				Fix = 1; // valid position
-			else
-				Fix = 0; // invalid position				
-			UBX_ecefVZ = join_4_bytes(&UBX_buffer[36]);	// Vertical Speed in cm / s
-			NumSats = UBX_buffer[47];										// Number of sats...		 
-			break;
-
-		case 0x12: // ID NAV - VELNED 
-			j = 16;
-			Speed_3d = join_4_bytes(&UBX_buffer[j]); // cm / s
-			j += 4;
-			Ground_Speed = join_4_bytes(&UBX_buffer[j]); // Ground speed 2D cm / s
-			j += 4;
-			Ground_Course = join_4_bytes(&UBX_buffer[j]); // Heading 2D deg * 100000
-			Ground_Course /= 1000;	// Rescale heading to deg * 100
-			j += 4;
-      /*
-			sacc = join_4_bytes(&UBX_buffer[j]) // Speed accuracy
-			j += 4;
-			headacc = join_4_bytes(&UBX_buffer[j]) // Heading accuracy
-			j += 4;
-			*/
-			break; 
-			}
-		}	 
-}
-
-
-/****************************************************************
- * 
- ****************************************************************/
- // Join 4 bytes into a long
-long GPS_UBLOX_Class::join_4_bytes(unsigned char Buffer[])
-{
-	union long_union {
-	int32_t dword;
-	uint8_t	byte[4];
-} longUnion;
-
-	longUnion.byte[0] = *Buffer;
-	longUnion.byte[1] = *(Buffer + 1);
-	longUnion.byte[2] = *(Buffer + 2);
-	longUnion.byte[3] = *(Buffer + 3);
-	return(longUnion.dword);
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-// Ublox checksum algorithm
-void GPS_UBLOX_Class::ubx_checksum(byte ubx_data)
-{
-	ck_a += ubx_data;
-	ck_b += ck_a; 
-}
-
-GPS_UBLOX_Class GPS;
\ No newline at end of file
diff --git a/libraries/GPS_UBLOX/GPS_UBLOX.h b/libraries/GPS_UBLOX/GPS_UBLOX.h
deleted file mode 100644
index 3a3f7ce9ba..0000000000
--- a/libraries/GPS_UBLOX/GPS_UBLOX.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef GPS_UBLOX_h
-#define GPS_UBLOX_h
-
-#include <inttypes.h>
-
-#define UBX_MAXPAYLOAD 60
-
-class GPS_UBLOX_Class
-{
-  private:
-    // Internal variables
-	uint8_t ck_a;     // Packet checksum
-	uint8_t ck_b;
-	uint8_t UBX_step;
-	uint8_t UBX_class;
-	uint8_t UBX_id;
-	uint8_t UBX_payload_length_hi;
-	uint8_t UBX_payload_length_lo;
-	uint8_t UBX_payload_counter;
-	uint8_t UBX_buffer[UBX_MAXPAYLOAD];
-	uint8_t UBX_ck_a;
-	uint8_t UBX_ck_b;
-	long GPS_timer;
-	long UBX_ecefVZ;
-	void parse_ubx_gps();
-	void ubx_checksum(unsigned char ubx_data);
-	long join_4_bytes(unsigned char Buffer[]);
-
-  public:
-    // Methods
-	GPS_UBLOX_Class();
-	void Init();
-	void Read();
-	// Properties
-	long Time;          //GPS Millisecond Time of Week
-	long Lattitude;     // Geographic coordinates
-	long Longitude;
-	long Altitude;
-	long Ground_Speed;
-	long Speed_3d;      //Speed (3-D)
-	long Ground_Course;
-	uint8_t NumSats;      // Number of visible satelites
-	uint8_t Fix;        // 1:GPS FIX   0:No FIX (normal logic)
-	uint8_t NewData;    // 1:New GPS Data
-	uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
-};
-
-extern GPS_UBLOX_Class GPS;
-
-#endif
\ No newline at end of file
diff --git a/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde b/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
deleted file mode 100644
index 59c97735a5..0000000000
--- a/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-  Example of GPS UBLOX library.
-  Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-
-  Works with Ardupilot Mega Hardware (GPS on Serial Port1)
-  and with standard ATMega168 and ATMega328 on Serial Port 0
-*/
-
-#include <GPS_UBLOX.h> // UBLOX GPS Library
-
-void setup()
-{
-  Serial.begin(57600);
-  Serial.println("GPS UBLOX library test");
-  GPS.Init();   // GPS Initialization
-  delay(1000);
-}
-void loop()
-{
-  GPS.Read();
-  if (GPS.NewData)  // New GPS data?
-    {
-    Serial.print("GPS:");
-    Serial.print(" Time:");
-    Serial.print(GPS.Time);
-    Serial.print(" Fix:");
-    Serial.print((int)GPS.Fix);
-    Serial.print(" Lat:");
-    Serial.print(GPS.Lattitude);
-    Serial.print(" Lon:");
-    Serial.print(GPS.Longitude);
-    Serial.print(" Alt:");
-    Serial.print(GPS.Altitude/1000.0);
-    Serial.print(" Speed:");
-    Serial.print(GPS.Ground_Speed/100.0);
-    Serial.print(" Course:");
-    Serial.print(GPS.Ground_Course/100000.0);
-    Serial.println();
-    GPS.NewData = 0; // We have readed the data
-    }
-  delay(20);
-}
\ No newline at end of file
diff --git a/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/Makefile b/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/Makefile
deleted file mode 100644
index 85b4d8856b..0000000000
--- a/libraries/GPS_UBLOX/examples/GPS_UBLOX_test/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../AP_Common/Arduino.mk
diff --git a/libraries/GPS_UBLOX/keywords.txt b/libraries/GPS_UBLOX/keywords.txt
deleted file mode 100644
index 0c8d9ac33a..0000000000
--- a/libraries/GPS_UBLOX/keywords.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-GPS	KEYWORD1
-GPS_UBLOX	KEYWORD1
-Init	KEYWORD2
-Read	KEYWORD2
-Time	KEYWORD2
-Lattitude	KEYWORD2
-Longitude	KEYWORD2
-Altitude	KEYWORD2
-Ground_Speed	KETWORD2
-Ground_Course	KEYWORD2
-Speed_3d	KEYWORD2
-NumSats	KEYWORD2
-Fix	KEYWORD2
-NewData	KEYWORD2
-
-