diff --git a/libraries/AP_Common/Arduino.mk b/libraries/AP_Common/Arduino.mk
new file mode 100644
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+++ b/libraries/AP_Common/Arduino.mk
@@ -0,0 +1,487 @@
+#
+# Copyright (c) 2010 Michael Smith. All rights reserved.
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+# 1. Redistributions of source code must retain the above copyright
+#	  notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#	  notice, this list of conditions and the following disclaimer in the
+#	  documentation and/or other materials provided with the distribution.
+# 
+# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED.	IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+# SUCH DAMAGE.
+#
+
+#
+# Build an Arduino sketch.
+#
+
+################################################################################
+# Config options
+#
+# The Makefile calling us must specify BOARD
+#
+HARDWARE		?=	arduino
+ifeq ($(BOARD),)
+$(error ERROR: must set BOARD before including this file)
+endif
+
+################################################################################
+# Paths
+#
+
+#
+# Save the system type for later use.
+#
+SYSTYPE			:=	$(shell uname)
+
+#
+# Locate the sketch sources based on the initial Makefile's path
+#
+SRCROOT			:=	$(realpath $(dir $(firstword $(MAKEFILE_LIST))))
+
+#
+# We need to know the location of the sketchbook. For now, assume that it's
+# the parent of the source directory.
+#
+SKETCHBOOK		:=	$(shell cd $(SRCROOT)/.. && pwd)
+
+#
+# Work out the sketch name from the name of the source directory.
+#
+SKETCH			:=	$(lastword $(subst /, ,$(SRCROOT)))
+
+#
+# Work out where we are going to be building things
+#
+TMPDIR			?=	/tmp
+BUILDROOT		:=	$(abspath $(TMPDIR)/$(SKETCH).build)
+
+#
+# Prefer the compiler bundled with Arduino on e.g. Mac OS.
+#
+TOOLPATH		=	$(ARDUINOS)/hardware/tools/avr/bin
+
+#
+# Find Arduino, if not explicitly specified
+#
+ifeq ($(ARDUINO),)
+
+  #
+  # List locations that might be valid ARDUINO settings
+  #
+  ifeq ($(SYSTYPE),Darwin)
+    # use Spotlight to find Arduino.app
+    ARDUINO_QUERY	=	'kMDItemKind == Application && kMDItemDisplayName == Arduino.app'
+    ARDUINOS		:=	$(addsuffix /Contents/Resources/Java,$(shell mdfind -literal $(ARDUINO_QUERY)))
+    ifeq ($(ARDUINOS),)
+      $(error ERROR: Spotlight cannot find Arduino on your system.)
+    endif
+    # other places we might find toolchain
+    TOOLPATH		+= 	/usr/local/CrossPack-AVR/bin /opt/local/bin
+  endif
+
+  ifeq ($(SYSTYPE),Linux)
+    ARDUINO_SEARCHPATH	=	/usr/share/arduino /usr/local/share/arduino
+    ARDUINOS		:=	$(wildcard $(ARDUINO_SEARCHPATH))
+  endif
+
+  #
+  # Pick the first option if more than one candidate is found.
+  #
+  # XXX this is bad if any of the paths (c:\Program Files\ anyone?) has a space in its name...
+  #
+  ARDUINO		:=	$(firstword $(ARDUINOS))
+  ifeq ($(ARDUINO),)
+    $(error ERROR: Cannot find Arduino on this system, please specify on the commandline with ARDUINO=<path>)
+  endif
+
+  ifneq ($(words $(ARDUINOS)),1)
+    $(warning WARNING: More than one copy of Arduino was found, using $(ARDUINO))
+  endif
+
+endif
+
+################################################################################
+# Tools
+#
+
+#
+# XXX should we be using tools from the Arduino distribution?
+#
+FIND_TOOL		=	$(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))) >/dev/tty)
+CXX			=	$(call FIND_TOOL,avr-g++)
+CC			=	$(call FIND_TOOL,avr-gcc)
+AS			=	$(call FIND_TOOL,avr-gcc)
+AR			=	$(call FIND_TOOL,avr-ar)
+LD			=	$(call FIND_TOOL,avr-gcc)
+OBJCOPY			=	$(call FIND_TOOL,avr-objcopy)
+
+#
+# Tool options
+#
+DEFINES			=	-DF_CPU=$(F_CPU) -DARDUINO=$(ARDUINO_VERS)
+OPTFLAGS		=	-Os
+
+# XXX warning options TBD
+CXXOPTS			= 	-mcall-prologues -ffunction-sections -fdata-sections -fno-exceptions
+COPTS			=	-mcall-prologues -ffunction-sections -fdata-sections
+ASOPTS			=	-assembler-with-cpp 
+
+CXXFLAGS		=	-g -mmcu=$(MCU) $(DEFINES) $(OPTFLAGS) $(CXXOPTS)
+CFLAGS			=	-g -mmcu=$(MCU) $(DEFINES) $(OPTFLAGS) $(COPTS)
+ASFLAGS			=	-g -mmcu=$(MCU) $(DEFINES) $(ASOPTS)
+LDFLAGS			=	-g -mmcu=$(MCU) $(OPTFLAGS) -Wl,--gc-sections
+
+LIBS			=	-lm
+
+SRCSUFFIXES		=	*.cpp *.c *.S
+
+ifeq ($(VERBOSE),)
+v			=	@
+else
+v			=
+endif
+
+
+################################################################################
+# Sketch
+#
+
+# Sketch source files
+SKETCHPDESRCS		:=	$(wildcard $(SRCROOT)/*.pde)
+SKETCHSRCS		:=	$(wildcard $(addprefix $(SRCROOT)/,$(SRCSUFFIXES)))
+SKETCHPDE		:=	$(wildcard $(SRCROOT)/$(SKETCH).pde)
+SKETCHCPP		:=	$(BUILDROOT)/$(SKETCH).cpp
+
+# Sketch object files
+SKETCHOBJS		:=	$(subst $(SRCROOT),$(BUILDROOT),$(SKETCHSRCS)) $(SKETCHCPP)
+SKETCHOBJS		:=	$(addsuffix .o,$(basename $(SKETCHOBJS)))
+
+# List of input files to the sketch.cpp file in the order they should
+# be appended to create it
+SKETCHCPP_SRC		:=	$(SKETCHPDE) $(sort $(filter-out $(SKETCHPDE),$(SKETCHPDESRCS)))
+
+################################################################################
+# Libraries
+#
+# Pick libraries to add to the include path and to link with based on
+# #include directives in the sketchfiles.
+#
+# For example:
+#
+#   #include <Foo.h>
+#
+# implies that there might be a Foo library.
+#
+# Note that the # and $ require special treatment to avoid upsetting
+# make.
+#
+SEXPR			=	's/^[[:space:]]*\#include[[:space:]][<\"]([^>\"./]+).*$$/\1/p'
+LIBTOKENS		:=	$(sort $(shell cat $(SKETCHPDESRCS) $(SKETCHSRCS) | sed -nEe $(SEXPR)))
+
+#
+# Find sketchbook libraries referenced by the sketch.
+#
+# Include paths for sketch libraries 
+#
+SKETCHLIBS		:=	$(wildcard $(addprefix $(SKETCHBOOK)/libraries/,$(LIBTOKENS)))
+SKETCHLIBNAMES		:=	$(notdir $(SKETCHLIBS))
+SKETCHLIBSRCDIRS	:=	$(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
+SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
+SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
+SKETCHLIBINCLUDES	:=	$(addprefix -I,$(SKETCHLIBS))
+
+#
+# Find Arduino libraries referenced by the sketch.  Exclude any that
+# are overloaded by versions in the sketchbook.
+#
+ARDUINOLIBS		:=	$(wildcard $(addprefix $(ARDUINO)/libraries/,$(filter-out $(SKETCHLIBNAMES),$(LIBTOKENS))))
+ARDUINOLIBNAMES		:=	$(notdir $(ARDUINOLIBS))
+ARDUINOLIBSRCDIRS	:=	$(ARDUINOLIBS) $(addsuffix /utility,$(ARDUINOLIBS))
+ARDUINOLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(ARDUINOLIBSRCDIRS))))
+ARDUINOLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(ARDUINO),$(BUILDROOT),$(ARDUINOLIBSRCS))))
+ARDUINOLIBINCLUDES	:=	$(addprefix -I,$(ARDUINOLIBS))
+
+# Library object files
+LIBOBJS			:=	$(SKETCHLIBOBJS) $(ARDUINOLIBOBJS)
+
+################################################################################
+# *duino core
+#
+
+# Pull the Arduino version from the revisions.txt file
+#
+# XXX can we count on this?  If not, what?
+ARDUINO_VERS		:=	$(shell expr `head -1 $(ARDUINO)/revisions.txt | cut -d ' ' -f 2`)
+
+# Find the hardware directory to use
+HARDWARE_DIR		:=	$(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \
+							$(ARDUINO)/hardware/$(HARDWARE)))
+ifeq ($(HARDWARE_DIR),)
+$(error ERROR: hardware directory for $(HARDWARE) not found
+endif
+
+# Find the boards.txt that we are using
+BOARDFILE		:=	$(wildcard $(HARDWARE_DIR)/boards.txt)
+ifeq ($(BOARDFILE),)
+$(error ERROR: could not locate boards.txt for hardware $(HARDWARE)
+endif
+
+# Extract needed build parameters from the boardfile
+MCU			:=	$(shell grep $(BOARD).build.mcu $(BOARDFILE) | cut -d = -f 2)
+F_CPU			:=	$(shell grep $(BOARD).build.f_cpu $(BOARDFILE) | cut -d = -f 2)
+HARDWARE_CORE		:=	$(shell grep $(BOARD).build.core $(BOARDFILE) | cut -d = -f 2)
+ifeq ($(MCU),)
+$(error ERROR: Could not locate board $(BOARD) in $(BOARDFILE)
+endif
+
+# Hardware source files
+CORESRC_DIR		=	$(HARDWARE_DIR)/cores/$(HARDWARE_CORE)
+CORESRC_PATTERNS	=	$(foreach suffix,/*.cpp /*.c /*.S,$(addsuffix $(suffix),$(CORESRC_DIR)))
+CORESRCS		:=	$(wildcard $(CORESRC_PATTERNS))
+
+# Include spec for core includes
+COREINCLUDES		=	-I$(CORESRC_DIR)
+
+# Hardware object files
+CORELIBOBJS		:=	$(subst $(CORESRC_DIR),$(BUILDROOT)/$(HARDWARE),$(CORESRCS))
+CORELIBOBJS		:=	$(addsuffix .o,$(basename $(CORELIBOBJS)))
+
+################################################################################
+# Built products
+#
+
+# The ELF file
+SKETCHELF		=	$(BUILDROOT)/$(SKETCH).elf
+
+# HEX file
+SKETCHHEX		=	$(BUILDROOT)/$(SKETCH).hex
+
+# EEP file
+SKETCHEEP		=	$(BUILDROOT)/$(SKETCH).eep
+
+# The core library
+CORELIB			=	$(BUILDROOT)/$(HARDWARE)/core.a
+
+################################################################################
+# Targets
+#
+
+all:	$(SKETCHELF) $(SKETCHEEP) $(SKETCHHEX)
+
+upload:
+
+clean:
+	@rm -fr $(BUILDROOT)
+
+################################################################################
+# Rules
+#
+
+# common header for rules, prints what is being built
+define RULEHDR
+	@echo %% $(subst $(BUILDROOT)/,,$@)
+	@mkdir -p $(dir $@)
+endef
+
+# Link the final object
+$(SKETCHELF):	$(SKETCHOBJS) $(LIBOBJS) $(CORELIB)
+	$(RULEHDR)
+	$(v)$(LD) $(LDFLAGS) -o $@ $^ $(LIBS)
+
+# Create the hex file
+$(SKETCHHEX):	$(SKETCHELF)
+	$(RULEHDR)
+	$(v)$(OBJCOPY) -O ihex -R .eeprom $< $@
+
+# Create the eep file
+$(SKETCHEEP):	$(SKETCHELF)
+	$(RULEHDR)
+	$(v)$(OBJCOPY) -O ihex -j.eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0 $< $@
+
+# Make the buildroot
+$(BUILDROOT):
+	@mkdir -p $(BUILDROOT)
+
+#
+# Build sketch objects
+#
+SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
+
+$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
+	$(RULEHDR)
+	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(SRCROOT) $(SKETCH_INCLUDES)
+
+$(BUILDROOT)/%.o: $(SRCROOT)/%.cpp
+	$(RULEHDR)
+	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
+
+$(BUILDROOT)/%.o: $(SRCROOT)/%.c
+	$(RULEHDR)
+	$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
+
+$(BUILDROOT)/%.o: $(SRCROOT)/%.S
+	$(RULEHDR)
+	$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
+
+#
+# Build library objects from sources in the sketchbook
+#
+SLIB_INCLUDES	=	-I$(dir $<)/utility $(SKETCHLIBINCLUDES) $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
+	$(RULEHDR)
+	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.c
+	$(RULEHDR)
+	$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.S
+	$(RULEHDR)
+	$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
+
+#
+# Build library objects from Ardiuno library sources
+#
+ALIB_INCLUDES	=	-I$(dir $<)/utility $(ARDUINOLIBINCLUDES) $(COREINCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.cpp
+	$(RULEHDR)
+	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.c
+	$(RULEHDR)
+	$(v)$(CC) $(CFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
+
+$(BUILDROOT)/libraries/%.o: $(ARDUINO)/libraries/%.S
+	$(RULEHDR)
+	$(v)$(AS) $(ASFLAGS) -c -o $@ $< $(ALIB_INCLUDES)
+
+#
+# Build objects from the hardware core
+#
+$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.cpp
+	$(RULEHDR)
+	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
+
+$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.c
+	@mkdir -p $(dir $@)
+	$(v)$(CC) $(CFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
+
+$(BUILDROOT)/$(HARDWARE)/%.o: $(CORESRC_DIR)/%.S
+	$(RULEHDR)
+	$(v)$(AS) $(ASFLAGS) -c -o $@ $< -I$(CORESRC_DIR)
+
+#
+# Build the core library
+#
+$(CORELIB): $(CORELIBOBJS)
+	$(RULEHDR)
+	$(v)$(AR) -rcs $@ $^
+
+#
+# Build the sketch.cpp file
+#
+# This process strives to be as faithful to the Arduino implementation as
+# possible.  Conceptually, the process is as follows:
+#
+# * All of the .pde files are concatenated, starting with the file named 
+#   for the sketch and followed by the others in alphabetical order.
+# * An insertion point is created in the concatenated file at
+#   the first statement that isn't a preprocessor directive or comment.
+# * An include of "WProgram.h" is inserted at the insertion point.
+# * The file following the insertion point is scanned for function definitions
+#   and prototypes for these functions are inserted at the insertion point.
+#
+# In addition, we add #line directives wherever the originating file changes
+# to help backtrack from compiler messages and in the debugger.
+#
+$(SKETCHCPP):	$(SKETCHCPP_SRC) $(BUILDROOT)
+	$(RULEHDR)
+	$(v)awk -v mode=header '$(SKETCH_SPLITTER)'   $(SKETCHCPP_SRC) >  $@
+	$(v)echo "#line 1 \"autogenerated\""                           >> $@
+	$(v)echo "#include \"WProgram.h\""                             >> $@
+	$(v)awk                '$(SKETCH_PROTOTYPER)' $(SKETCHCPP_SRC) >> $@
+	$(v)awk -v mode=body   '$(SKETCH_SPLITTER)'   $(SKETCHCPP_SRC) >> $@
+
+# delete the sketch.cpp file if a processing error occurs
+.DELETE_ON_ERROR: $(SKETCHCPP)
+
+#
+# The sketch splitter is an awk script used to split off the
+# header and body of the concatenated .pde files.  It also
+# inserts #line directives to help in backtracking from compiler
+# and debugger messages to the original source file.
+#
+# Note that # and $ require special treatment here to avoid upsetting
+# make.
+#
+define SKETCH_SPLITTER
+  BEGIN { 							\
+    scanning = 1; 						\
+    printing = (mode ~ "header") ? 1 : 0;			\
+  }								\
+  { toggles = 1 }						\
+  (FNR == 1) && printing { 					\
+    printf "#line %d \"%s\"\n", FNR, FILENAME;			\
+  }								\
+  /^[[:space:]]*\/\*/,/\*\// { 					\
+    toggles = 0;						\
+  }								\
+  /^[[:space:]]*$$/ || /^[[:space:]]*\/\/.*/ || /^\#.*$$/ { 	\
+    toggles = 0;						\
+  }								\
+  scanning && toggles { 					\
+    scanning = 0; 						\
+    printing = !printing;					\
+    if (printing) { 						\
+      printf "#line %d \"%s\"\n", FNR, FILENAME;		\
+    }								\
+  }								\
+  printing
+endef
+
+#
+# The prototype scanner is an awk script used to generate function
+# prototypes from the concantenated .pde files.
+#
+# Function definitions are expected to follow the form
+#
+#   <newline><type>[<qualifier>...]<name>([<arguments>]){
+#
+# with whitespace permitted between the various elements.  The pattern
+# is assembled from separate subpatterns to make adjustments easier.
+#
+# Note that $ requires special treatment here to avoid upsetting make,
+# and backslashes are doubled in the partial patterns to satisfy
+# escaping rules.
+#
+define SKETCH_PROTOTYPER
+  BEGIN {								\
+    RS="{";								\
+    type       = "((\\n)|(^))[[:space:]]*[[:alnum:]_]+[[:space:]]+";	\
+    qualifiers = "([[:alnum:]_\\*&]+[[:space:]]*)*";			\
+    name       = "[[:alnum:]_]+[[:space:]]*";				\
+    args       = "\\([[:space:][:alnum:]_,&\\*\\[\\]]*\\)";		\
+    bodycuddle = "[[:space:]]*$$";					\
+    pattern    = type qualifiers name args bodycuddle;			\
+  }									\
+  match($$0, pattern) {							\
+    proto = substr($$0, RSTART, RLENGTH);				\
+    gsub("\n", " ", proto);						\
+    printf "%s;\n", proto;						\
+  }
+endef