diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.c b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.c
index 7bcaadcb08..1eda1906e2 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.c
@@ -1,11 +1,21 @@
 // ESCCommands.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "ESCCommands.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.h b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.h
index 0a6ba8f1ee..23a7b4208c 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCCommands.h
@@ -1,11 +1,21 @@
 // ESCCommands.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _ESCCOMMANDS_H
 #define _ESCCOMMANDS_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.c b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.c
index 3b67d4e3a3..c31aa0fddf 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.c
@@ -1,11 +1,21 @@
 // ESCDefines.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "ESCDefines.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.h b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.h
index addbd4ccdc..8346b5c559 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCDefines.h
@@ -1,11 +1,21 @@
 // ESCDefines.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _ESCDEFINES_H
 #define _ESCDEFINES_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.c b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.c
index 3398fa5a4c..b2f255eeac 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.c
@@ -1,11 +1,21 @@
 // ESCPackets.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "ESCPackets.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.h b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.h
index 6c317ef714..a60c92c8c0 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCPackets.h
@@ -1,11 +1,21 @@
 // ESCPackets.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _ESCPACKETS_H
 #define _ESCPACKETS_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.c b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.c
index 849545baaa..6f722f445a 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.c
@@ -1,11 +1,21 @@
 // ESCVelocityProtocol.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "ESCVelocityProtocol.h"
 
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h
index 7508b20f3e..0a01c77e15 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h
@@ -1,11 +1,21 @@
 // ESCVelocityProtocol.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _ESCVELOCITYPROTOCOL_H
 #define _ESCVELOCITYPROTOCOL_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocity_source.xml b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocity_source.xml
index bfb0feeb63..2900baee41 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocity_source.xml
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/ESCVelocity_source.xml
@@ -1,6 +1,50 @@
-<Protocol api="61" comment="This is the ICD for the Gen-2 Currawong Engineering Electronic Speed Controller (ESCVelocity). This document details the ESCVelocity command and packet structure for communication with and configuration of the ESC. Note that there may be some differences between this ICD and the ICD for the Gen-1 ESCVelocity. Please refer to the old ICD for the Gen-1 device." endian="big" file="ESCPackets" mapfile="ESC_SettingsMap" name="ESCVelocity" prefix="ESC_" supportBool="true" supportFloat64="false" supportInt64="false" supportSpecialFloat="false" verifyfile="ESC_SettingsVerify" version="3.40"><Include comment="C string manipulation function header" global="true" name="string.h" />
+<Protocol api="62" comment="This is the ICD for the Gen-2 Currawong Engineering Electronic Speed Controller (ESCVelocity). This document details the ESCVelocity command and packet structure for communication with and configuration of the ESC. Note that there may be some differences between this ICD and the ICD for the Gen-1 ESCVelocity. Please refer to the old ICD for the Gen-1 device." endian="big" file="ESCPackets" mapfile="ESC_SettingsMap" name="ESCVelocity" prefix="ESC_" supportBool="true" supportFloat64="false" supportInt64="false" supportSpecialFloat="false" verifyfile="ESC_SettingsVerify" version="3.41"><Include comment="C string manipulation function header" global="true" name="string.h" />
 
     
+    <Structure comment="Status bits associated with the legacy (gen-1) ESC" file="LegacyESCDefines" name="LegacyStatusBits">
+        <Data comment="1 = Hardware inhibit is active (ESC is disabled)" inMemoryType="bitfield1" name="hwInhibit" />
+        <Data comment="1 = Software inhibit is active (ESC is disabled)" inMemoryType="bitfield1" name="swInhibit" />
+        <Data comment="0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled" inMemoryType="bitfield1" name="afwEnabled" />
+        <Data comment="0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE" inMemoryType="bitfield1" name="direction" />
+        <Data comment="Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode)" inMemoryType="bitfield1" name="timeout" />
+        <Data comment="1 = in starting mode (0 = stopped or running)" inMemoryType="bitfield1" name="starting" />
+        <Data comment="0 = most recent command from CAN, 1 = most recent command from PWM" inMemoryType="bitfield1" name="commandSource" />
+        <Data comment="ESC is running" inMemoryType="bitfield1" name="running" />
+    </Structure>
+    
+    <Structure comment="Warning bits associated with the legacy (gen-1) ESC" file="LegacyESCDefines" name="LegacyWarningBits">    
+        <Data comment="Set if RPM signal is not detected" inMemoryType="bitfield1" name="noRPMSignal" />
+        <Data comment="Set if the ESC motor speed exceeds the configured warning threshold" inMemoryType="bitfield1" name="overspeed" />
+        <Data comment="Set if the ESC motor current (positive or negative) exceeds the configured warning threshold" inMemoryType="bitfield1" name="overcurrent" />
+        <Data comment="Set if the internal ESC temperature is above the warning threshold" inMemoryType="bitfield1" name="escTemperature" />
+        <Data comment="Set if the motor temperature is above the warning threshold" inMemoryType="bitfield1" name="motorTemperature" />
+        <Data comment="Set if the input voltage is below the minimum threshold" inMemoryType="bitfield1" name="undervoltage" />
+        <Data comment="Set if the input voltage is above the maximum threshold" inMemoryType="bitfield1" name="overvoltage" />    
+        <Data comment="Set if hardware PWM input is enabled but invalid" inMemoryType="bitfield1" name="invalidPWMsignal" />
+    </Structure>
+    
+    <Structure comment="Error bits associated with the legacy (gen-1) ESC" file="LegacyESCDefines" name="LegacyErrorBits">
+        <Data comment="Set if communication link to the motor controller is lost" inMemoryType="bitfield1" name="linkError" />
+        <Data comment="Set if the ESC has detected an overcurrent event and is actively folding back duty cycle" inMemoryType="bitfield1" name="foldback" />
+        <Data comment="Set if the settings checksum does not match the programmed values" inMemoryType="bitfield1" name="settingsChecksum" />
+        <Data comment="Set if the motor settings are invalid" inMemoryType="bitfield1" name="motorSettings" />
+        <Data comment="Reserved for future use" inMemoryType="bitfield1" name="reservedD" />
+        <Data comment="Reserved for future use" inMemoryType="bitfield1" name="reservedE" />
+        <Data comment="Reserved for future use" inMemoryType="bitfield1" name="reservedF" />
+        <Data comment="Reserved for future use" inMemoryType="bitfield1" name="reservedG" />
+    </Structure>
+
+    
+    <Packet ID="PKT_ESC_STATUS_A" comment="Legacy (gen-1) definition for the STATUS_A packet" file="LegacyESCPackets" name="LegacyStatusA" parameterInterface="true">
+        <Data checkConstant="true" comment="Set to 0 to indicate a Gen-2 ESC" constant="0" encodedType="bitfield1" inMemoryType="null" name="version" />
+        <Data comment="ESC operating mode. The lower four bits indicate the operational mode of the ESC, in accordance with the ESCOperatingModes enumeration. The upper 3 bits are used for debugging and should be ignored for general use." encodedType="bitfield7" inMemoryType="unsigned8" name="mode" />
+        <Data comment="ESC status bits" name="status" struct="LegacyStatusBits" />
+        <Data comment="ESC warning bits" name="warnings" struct="LegacyWarningBits" />
+        <Data comment="ESC *error* bits" name="errors" struct="LegacyErrorBits" />
+        <Data comment="ESC operational command - value depends on 'mode' available in this packet. If the ESC is disabled, data reads 0x0000. If the ESC is in open-loop PWM mode, this value is the PWM command in units of 1us, in the range 1000us to 2000us. If the ESC is in closed-loop RPM mode, this value is the RPM command in units of 1RPM" inMemoryType="unsigned16" name="command" />
+        <Data comment="Motor speed" inMemoryType="unsigned16" name="rpm" units="1RPM per bit" />
+    </Packet>
+
     <Enum comment="Constant values required for sending a disable (inhibit) command" description="These values are required for the DISABLE command" name="ESCDisableSequence">
         <Value comment="Constant value required for disabling the ESC" name="ESC_DISABLE_A" value="0xAA" />
         <Value comment="Constant value required for disabling the ESC" name="ESC_DISABLE_B" value="0xC3" />
@@ -246,7 +290,8 @@
         <Value comment="Exit debug mode" hidden="true" name="EXIT_DEBUG" />
          
         <Value comment="Unlock ESC nonvolatile settings" name="UNLOCK_SETTINGS" value="0xF5" />
-        <Value comment="Lock ESC nonvolatile settings" name="LOCK_SETTINGS" />
+        <Value comment="Lock ESC nonvolatile settings" name="LOCK_SETTINGS" value="0xF6" />
+        <value comment="Mark the current settings as valid" name="VALIDATE_SETTINGS" value="0xF7" />
         
         <Value comment="Reset motor run time" name="RESET_MOTOR_RUN_TIME" value="0xFA" />
  
@@ -278,7 +323,7 @@
     </Structure>
     
     <Structure comment="The *warning* bits enumerate various system warnings/errors of which the user (or user software) should be made aware. These *warning* bits are transmitted in the telemetry packets such that user software is aware of any these *warning* conditions and can poll the ESC for particular packets if any further information is needed. The ESC will continue to function in the case of a *warning* state" file="ESCDefines" map="false" name="WarningBits">
-        <Data comment="Reserved for future use" constant="0" encodedType="bitfield1" inMemoryType="bool" name="reserved" />
+        <Data comment="Reserved for future use" constant="0" encodedType="bitfield1" inMemoryType="null" name="reserved" />
         <Data comment="Set if the ESC motor speed exceeds the configured warning threshold" encodedType="bitfield1" inMemoryType="bool" name="overspeed" />
         <Data comment="Set if the ESC motor current (positive or negative) exceeds the configured warning threshold" encodedType="bitfield1" inMemoryType="bool" name="overcurrent" />
         <Data comment="Set if the internal ESC temperature is above the warning threshold" encodedType="bitfield1" inMemoryType="bool" name="escTemperature" />
@@ -292,19 +337,20 @@
         <Data comment="Set if a zero-crossing measurement was missed" encodedType="bitfield1" inMemoryType="bool" name="missedZeroCrossing" />
         <Data comment="Motor is spinning in the wrong direction" encodedType="bitfield1" inMemoryType="bool" name="spinningReversed" />
         <Data comment="Motor has reached maximum allowable commutation speed" encodedType="bitfield1" inMemoryType="bool" name="commSpeedLimit" />
-        <Data comment="Reserved for future use" constant="0" encodedType="bitfield2" inMemoryType="null" name="reservedBits" />
+        <Data comment="Settings checksum does not match programmed value" encodedType="bitfield1" inMemoryType="bool" name="settingsChecksum" />
+        <Data comment="Reserved for future use" constant="0" encodedType="bitfield1" inMemoryType="null" name="reservedBits" />
     </Structure>
-
     
     <Structure comment="The *error* bits enumerate critical system errors that will cause the ESC to stop functioning until the error cases are alleviated" file="ESCDefines" map="false" name="ErrorBits">
-        <Data comment="Set if the ESC failed to start the motor" encodedType="bitfield1" inMemoryType="unsigned8" name="failedStart" />
-        <Data comment="Lost commutation" encodedType="bitfield1" inMemoryType="unsigned8" name="commutation" />
-        <Data comment="Set if hall sensor error detected" encodedType="bitfield1" inMemoryType="unsigned8" name="hallSensor" />
-        <Data comment="Current exceeded hard-limit" encodedType="bitfield1" inMemoryType="unsigned8" name="overcurrent" />
-        <Data comment="Temperature exceeded hard-limit" encodedType="bitfield1" inMemoryType="unsigned8" name="overtemperature" />
-        <Data comment="Motor commutation speed exceeded hard-limit" encodedType="bitfield1" inMemoryType="unsigned8" name="overspeed" />
-        <Data comment="Motor stopped due to high demag angle" encodedType="bitfield1" inMemoryType="unsigned8" name="demag" />
-        <Data comment="Reserved for future use" constant="0" encodedType="unsigned8" inMemoryType="null" name="reserved" />
+        <Data comment="Set if the ESC failed to start the motor" encodedType="bitfield1" inMemoryType="bool" name="failedStart" />
+        <Data comment="Lost commutation" encodedType="bitfield1" inMemoryType="bool" name="commutation" />
+        <Data comment="Set if hall sensor error detected" encodedType="bitfield1" inMemoryType="bool" name="hallSensor" />
+        <Data comment="Current exceeded hard-limit" encodedType="bitfield1" inMemoryType="bool" name="overcurrent" />
+        <Data comment="Temperature exceeded hard-limit" encodedType="bitfield1" inMemoryType="bool" name="overtemperature" />
+        <Data comment="Motor commutation speed exceeded hard-limit" encodedType="bitfield1" inMemoryType="bool" name="overspeed" />
+        <Data comment="Motor stopped due to high demag angle" encodedType="bitfield1" inMemoryType="bool" name="demag" />
+        <Data comment="Reserved for future use" constant="0" encodedType="bitfield8" inMemoryType="null" name="reservedA" />
+        <Data comment="Reserved for future use" constant="0" encodedType="bitfield1" inMemoryType="null" name="reservedB" />
     </Structure>
     
     
@@ -332,7 +378,7 @@
     
     
     
-    <Packet ID="PKT_ESC_SETPOINT_1" comment="Send this packet to command ESCs which have CAN ID values in the range {1,4} (inclusive). This packet must be sent as a broadcast packet (address = 0xFF) such that all ESCs can receive it. Similiar commands are available for commanding ESCs with ID values up to 64, using different ESC_SETPOINT_x packet ID values." name="CommandMultipleESCs" parameterInterface="true">
+    <Packet ID="PKT_ESC_SETPOINT_1 PKT_ESC_SETPOINT_2 PKT_ESC_SETPOINT_3 PKT_ESC_SETPOINT_4 PKT_ESC_SETPOINT_5 PKT_ESC_SETPOINT_6 PKT_ESC_SETPOINT_7 PKT_ESC_SETPOINT_8 PKT_ESC_SETPOINT_9 PKT_ESC_SETPOINT_10 PKT_ESC_SETPOINT_11 PKT_ESC_SETPOINT_12 PKT_ESC_SETPOINT_13 PKT_ESC_SETPOINT_14 PKT_ESC_SETPOINT_15 PKT_ESC_SETPOINT_16" comment="Send this packet to command ESCs which have CAN ID values in the range {1,4} (inclusive). This packet must be sent as a broadcast packet (address = 0xFF) such that all ESCs can receive it. Similiar commands are available for commanding ESCs with ID values up to 64, using different ESC_SETPOINT_x packet ID values." name="CommandMultipleESCs" parameterInterface="true">
         <Data comment="The PWM (pulse width) command for ESC with CAN ID 1" inMemoryType="unsigned16" name="pwmValueA" units="1us per bit" />
         <Data comment="The PWM (pulse width) command for ESC with CAN ID 2" inMemoryType="unsigned16" name="pwmValueB" units="1us per bit" />
         <Data comment="The PWM (pulse width) command for ESC with CAN ID 3" inMemoryType="unsigned16" name="pwmValueC" units="1us per bit" />
@@ -379,6 +425,7 @@
     
     
     <Packet ID="PKT_ESC_STATUS_C" map="false" name="StatusC" parameterInterface="true">
+        
         <Data comment="Reserved for future use" constant="0" encodedType="signed16" inMemoryType="null" name="reserved" />
         <Data comment="ESC Phase Board Temperature" encodedType="unsigned8" inMemoryType="float" max="205" min="-50" name="fetTemperature" />
         <Data comment="Current motor PWM frequency (10 Hz per bit)" inMemoryType="unsigned16" name="pwmFrequency" />
@@ -431,6 +478,13 @@
         <Data checkConstant="true" constant="0x0C" encodedType="unsigned8" inMemoryType="null" name="lockSeqC" />
     </Packet>
     
+    <Packet ID="PKT_ESC_SYSTEM_CMD" file="ESCCommands" map="false" name="ValidateSettings">
+        <Data checkConstant="true" constant="CMD_ESC_VALIDATE_SETTINGS" encodedType="unsigned8" inMemoryType="null" name="command" />
+        <Data checkConstant="true" constant="0x1A" encodedType="unsigned8" inMemoryType="null" name="validateSeqA" />
+        <Data checkConstant="true" constant="0x2B" encodedType="unsigned8" inMemoryType="null" name="validateSeqB" />
+        <Data checkConstant="true" constant="0x3C" encodedType="unsigned8" inMemoryType="null" name="validateSeqC" />
+    </Packet>
+    
    <Packet ID="PKT_ESC_SYSTEM_CMD" file="ESCCommands" map="false" name="ResetMotorRunTime">
         <Data checkConstant="true" constant="CMD_ESC_RESET_MOTOR_RUN_TIME" encodedType="unsigned8" inMemoryType="null" name="command" />
         <Data checkConstant="true" comment="This byte is required for the command to be accepted" constant="0xAB" encodedType="unsigned8" inMemoryType="null" name="resetSeqA" />
@@ -474,7 +528,7 @@
         <Data comment="Motor beep volume" encodedType="bitfield5" inMemoryType="unsigned8" initialValue="20" name="motorBeepVolume" units="5% per bit" verifyMaxValue="30" verifyMinValue="1" />
     </Packet>
     
-    <Packet ID="PKT_ESC_SERIAL_NUMBER" comment="This packet contains the serial number for the ESC. Additionally there are two extra values (each 16-bit) which can be programmed by the user for any purpose." name="Address" packetType="config" parameterInterface="true">
+    <Packet ID="PKT_ESC_SERIAL_NUMBER" comment="This packet contains the serial number for the ESC. Additionally there are two extra values (each 16-bit) which can be programmed by the user for any purpose." name="Address" packetType="config" parameterInterface="true" structureInterface="true">
 		
 		<Data comment="ESC hardware revision (OTP - not configurable by user)" inMemoryType="unsigned8" name="HardwareRevision" />
         <Data comment="ESC model (OTP - not configurable by user)" inMemoryType="unsigned8" name="Model" />
@@ -487,7 +541,7 @@
         <Data array="8" comment="Description of this ESC" inMemoryType="unsigned8" name="ESCTitle" />
     </Packet>
     
-    <Packet ID="PKT_ESC_FIRMWARE" comment="This packet contains the firmware version of the ESC" name="Firmware" packetType="config" parameterInterface="true">
+    <Packet ID="PKT_ESC_FIRMWARE" comment="This packet contains the firmware version of the ESC" name="Firmware" packetType="config" parameterInterface="true" structureInterface="true">
         <Data comment="Major firmware version number" inMemoryType="unsigned8" name="versionMajor" />
         <Data comment="Minor firmware version numner" inMemoryType="unsigned8" name="versionMinor" />
         <Data comment="Firmware release date, day-of-month" inMemoryType="unsigned8" name="versionDay" range="1-31" />
@@ -496,7 +550,7 @@
         <Data comment="Firmware checksum" inMemoryType="unsigned16" name="firmwareChecksum" />
     </Packet>
     
-    <Packet ID="PKT_ESC_SYSTEM_INFO" comment="This packet contains system runtime information" name="SystemInfo" parameterInterface="true">
+    <Packet ID="PKT_ESC_SYSTEM_INFO" comment="This packet contains system runtime information" name="SystemInfo" parameterInterface="true" structureInterface="true">
         <Data comment="Number of milliseconds since the ESC last experienced a reset/power-on event" inMemoryType="unsigned32" name="millisecondsSinceReset" />
         <Data comment="Number of power cycle events that the ESC has experienced" inMemoryType="unsigned16" name="powerCycles" />
         <Data comment="Processor RESET code for debug purposes" inMemoryType="unsigned8" name="resetCode" />
@@ -515,12 +569,12 @@
         <Data array="5" comment="The API version of the ESC" constant="getESCVelocityVersion()" inMemoryType="string" name="apiVersion" />
     </Packet>
     
-    <Packet ID="PKT_ESC_EEPROM" comment="This packet contains information on the non-volatile ESC settings" name="EEPROMSettings" parameterInterface="true">
-        <Data comment="Set if the ESC settings are locked" encodedType="bitfield1" inMemoryType="unsigned8" name="settingsLocked" />
-        <Data comment="Version of EEPROM data" encodedType="bitfield1" inMemoryType="unsigned8" name="version" />
+    <Packet ID="PKT_ESC_EEPROM" comment="This packet contains information on the non-volatile ESC settings" name="EEPROMSettings" parameterInterface="true" structureInterface="true">
+        <Data comment="Set if the ESC settings are locked" encodedType="bitfield1" inMemoryType="bool" name="settingsLocked" />
+        <Data comment="Version of EEPROM data" encodedType="bitfield7" inMemoryType="unsigned8" name="version" range="1 to 127" />
         <Data comment="Size of settings data" inMemoryType="unsigned16" name="size" />
         <Data comment="Settings checksum" inMemoryType="unsigned16" name="checksum" />
-
+        <Data comment="Validated settings checksum" default="0" inMemoryType="unsigned16" name="validatedChecksum" />
     </Packet>
     
     <Packet ID="PKT_ESC_TELLTALES" name="TelltaleValues" parameterInterface="true" structureInterface="true">
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.c b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.c
index 04bb7b3cf4..a1b8fe237f 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.c
@@ -1,11 +1,21 @@
 // LegacyESCDefines.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "LegacyESCDefines.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.h b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.h
index f8c79598b1..54c88c564b 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCDefines.h
@@ -1,11 +1,21 @@
 // LegacyESCDefines.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _LEGACYESCDEFINES_H
 #define _LEGACYESCDEFINES_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.c b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.c
index fe83c5e20f..b559121890 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.c
@@ -1,11 +1,21 @@
 // LegacyESCPackets.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "LegacyESCPackets.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.h b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.h
index 06f5199bca..8f44a9a79e 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/LegacyESCPackets.h
@@ -1,11 +1,21 @@
 // LegacyESCPackets.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _LEGACYESCPACKETS_H
 #define _LEGACYESCPACKETS_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.c b/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.c
index 4ce8612330..da9fc74098 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.c
@@ -1,11 +1,21 @@
 // fielddecode.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "fielddecode.h"
 
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.h b/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.h
index 336424403f..98a020aed5 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/fielddecode.h
@@ -1,11 +1,21 @@
 // fielddecode.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _FIELDDECODE_H
 #define _FIELDDECODE_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.c b/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.c
index 99bb83deaf..2c34f4b89f 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.c
@@ -1,11 +1,21 @@
 // fieldencode.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "fieldencode.h"
 
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.h b/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.h
index 30a9dff5c8..6fd5f6f4ff 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/fieldencode.h
@@ -1,11 +1,21 @@
 // fieldencode.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _FIELDENCODE_H
 #define _FIELDENCODE_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/license.txt b/libraries/AP_PiccoloCAN/piccolo_protocol/license.txt
new file mode 100644
index 0000000000..266877bcc6
--- /dev/null
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/license.txt
@@ -0,0 +1,16 @@
+/*
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
+ */
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.c b/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.c
index a7b0ce8a30..7f58b7b716 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.c
@@ -1,11 +1,21 @@
 // scaleddecode.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "scaleddecode.h"
 #include "fielddecode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.h b/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.h
index 4b84ff3058..1029c941b5 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/scaleddecode.h
@@ -1,11 +1,21 @@
 // scaleddecode.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _SCALEDDECODE_H
 #define _SCALEDDECODE_H
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.c b/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.c
index 45df1ed455..5ec046b9cf 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.c
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.c
@@ -1,11 +1,21 @@
 // scaledencode.c was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #include "scaledencode.h"
 #include "fieldencode.h"
diff --git a/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.h b/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.h
index 32228dc6d4..1010e01f24 100644
--- a/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.h
+++ b/libraries/AP_PiccoloCAN/piccolo_protocol/scaledencode.h
@@ -1,11 +1,21 @@
 // scaledencode.h was generated by ProtoGen version 3.2.a
 
 /*
- * Copyright Currawong Engineering Pty Ltd
- * www.currawongeng.com
- * all rights reserved
+ * This file 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 file 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, see <http://www.gnu.org/licenses/>.
+ *
+ * Author: Oliver Walters
  */
- 
 
 #ifndef _SCALEDENCODE_H
 #define _SCALEDENCODE_H