diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log
index 10604a699c..3e86d02fc8 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.build.log
@@ -5,13 +5,15 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+/root/apm/ardupilot-mega/ArduCopter/Parameters.h:407: warning: overflow in implicit constant conversion
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
 /root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()':
-/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:64: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'int heli_get_scaled_throttle(int)':
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:205: warning: unused variable 'scaled_throttle'
 /root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)':
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
@@ -19,7 +21,9 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:179: warning: 'int alt_hold_velocity()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:209: warning: 'int get_angle_boost(int)' defined but not used
 autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
 autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
 autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
@@ -28,36 +32,39 @@ autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but nev
 autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
 autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
 autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/Log.pde:835: warning: 'void Log_Write_Attitude()' defined but not used
 autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-autogenerated:246: warning: 'void ReadSCP1000()' declared 'static' but never defined
-autogenerated:247: warning: 'void init_barometer()' declared 'static' but never defined
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
-autogenerated:249: warning: 'long int read_barometer()' declared 'static' but never defined
-autogenerated:250: warning: 'void read_airspeed()' declared 'static' but never defined
-autogenerated:251: warning: 'void zero_airspeed()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:438: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+autogenerated:215: warning: 'void debug_motors()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:213: warning: 'int get_loiter_angle()' defined but not used
+autogenerated:237: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:238: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:239: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:241: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:134: warning: 'void throttle_failsafe(uint16_t)' defined but not used
+autogenerated:250: warning: 'void ReadSCP1000()' declared 'static' but never defined
+autogenerated:251: warning: 'void init_barometer()' declared 'static' but never defined
+autogenerated:252: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:253: warning: 'long int read_barometer()' declared 'static' but never defined
+autogenerated:254: warning: 'void read_airspeed()' declared 'static' but never defined
+autogenerated:255: warning: 'void zero_airspeed()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/system.pde:456: warning: 'void set_failsafe(boolean)' defined but not used
+autogenerated:290: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:297: warning: 'void fake_out_gps()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:363: warning: 'ground_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:364: warning: 'ground_temperature' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:369: warning: 'baro_alt' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:347: warning: 'old_altitude' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:348: warning: 'old_rate' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:366: warning: 'abs_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:367: warning: 'ground_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:368: warning: 'ground_temperature' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:373: warning: 'baro_alt' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:389: warning: 'angle_boost' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1727: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt
index e8146f2219..8c64ea4fd3 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.size.txt
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diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log
index 10604a699c..3e86d02fc8 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.build.log
@@ -5,13 +5,15 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+/root/apm/ardupilot-mega/ArduCopter/Parameters.h:407: warning: overflow in implicit constant conversion
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:299: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
 /root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()':
-/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:64: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'int heli_get_scaled_throttle(int)':
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:205: warning: unused variable 'scaled_throttle'
 /root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)':
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
@@ -19,7 +21,9 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:179: warning: 'int alt_hold_velocity()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:209: warning: 'int get_angle_boost(int)' defined but not used
 autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
 autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
 autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
@@ -28,36 +32,39 @@ autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but nev
 autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
 autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
 autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/Log.pde:835: warning: 'void Log_Write_Attitude()' defined but not used
 autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-autogenerated:246: warning: 'void ReadSCP1000()' declared 'static' but never defined
-autogenerated:247: warning: 'void init_barometer()' declared 'static' but never defined
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
-autogenerated:249: warning: 'long int read_barometer()' declared 'static' but never defined
-autogenerated:250: warning: 'void read_airspeed()' declared 'static' but never defined
-autogenerated:251: warning: 'void zero_airspeed()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:438: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+autogenerated:215: warning: 'void debug_motors()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:213: warning: 'int get_loiter_angle()' defined but not used
+autogenerated:237: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:238: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:239: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:241: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:134: warning: 'void throttle_failsafe(uint16_t)' defined but not used
+autogenerated:250: warning: 'void ReadSCP1000()' declared 'static' but never defined
+autogenerated:251: warning: 'void init_barometer()' declared 'static' but never defined
+autogenerated:252: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:253: warning: 'long int read_barometer()' declared 'static' but never defined
+autogenerated:254: warning: 'void read_airspeed()' declared 'static' but never defined
+autogenerated:255: warning: 'void zero_airspeed()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/system.pde:456: warning: 'void set_failsafe(boolean)' defined but not used
+autogenerated:290: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:297: warning: 'void fake_out_gps()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:363: warning: 'ground_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:364: warning: 'ground_temperature' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:369: warning: 'baro_alt' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:347: warning: 'old_altitude' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:348: warning: 'old_rate' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:366: warning: 'abs_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:367: warning: 'ground_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:368: warning: 'ground_temperature' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:373: warning: 'baro_alt' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:389: warning: 'angle_boost' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1727: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.size.txt
index c3ae322200..d90c94c76f 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.size.txt
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diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.build.log
index d420f23d8f..e2ae2c5243 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.build.log
@@ -5,17 +5,21 @@ In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
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 /root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'void heli_init_swash()':
-/root/apm/ardupilot-mega/ArduCopter/heli.pde:60: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:64: warning: comparisons like X<=Y<=Z do not have their mathematical meaning
+/root/apm/ardupilot-mega/ArduCopter/heli.pde: In function 'int heli_get_scaled_throttle(int)':
+/root/apm/ardupilot-mega/ArduCopter/heli.pde:205: warning: unused variable 'scaled_throttle'
 /root/apm/ardupilot-mega/ArduCopter/setup.pde: In function 'int8_t setup_heli(uint8_t, const Menu::arg*)':
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 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function
+/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function
-autogenerated: At global scope:
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+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:209: warning: 'int get_angle_boost(int)' defined but not used
 autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
 autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
 autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
@@ -23,24 +27,25 @@ autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but ne
 /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
+autogenerated:215: warning: 'void debug_motors()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:213: warning: 'int get_loiter_angle()' defined but not used
+autogenerated:237: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:238: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:239: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:241: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:134: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:252: warning: 'long int read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/system.pde:438: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/system.pde:456: warning: 'void set_failsafe(boolean)' defined but not used
+autogenerated:290: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:297: warning: 'void fake_out_gps()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1727: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt
index 41607607b2..4f8bcc3fd3 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.size.txt
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diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.build.log
index d420f23d8f..e2ae2c5243 100644
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 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
 /root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
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-/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_tail' may be used uninitialized in this function
+/root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_tail' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'min_coll' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_pitch' may be used uninitialized in this function
 /root/apm/ardupilot-mega/ArduCopter/setup.pde:467: warning: 'max_roll' may be used uninitialized in this function
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:179: warning: 'int alt_hold_velocity()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:209: warning: 'int get_angle_boost(int)' defined but not used
 autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
 autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
 autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
@@ -23,24 +27,25 @@ autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but ne
 /root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
+autogenerated:215: warning: 'void debug_motors()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:95: warning: 'void calc_loiter2(int, int)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:213: warning: 'int get_loiter_angle()' defined but not used
+autogenerated:237: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:238: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:239: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:241: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:134: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:252: warning: 'long int read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/system.pde:438: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/system.pde:456: warning: 'void set_failsafe(boolean)' defined but not used
+autogenerated:290: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:297: warning: 'void fake_out_gps()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_min' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:277: warning: 'heli_servo_max' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1727: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt
index 0f00a831cc..5f1c4d5346 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.size.txt
@@ -10,6 +10,7 @@
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@@ -45,10 +46,13 @@
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@@ -71,6 +75,7 @@
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diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
index c2dccc3239..e338f2b167 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
+++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
@@ -95,7 +95,7 @@
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Heli (2560 only)</name>
+    <name>ArduCopter V2.0.50 Beta Heli (2560 only)</name>
     <desc>
 #define AUTO_RESET_LOITER 0
 #define FRAME_CONFIG HELI_FRAME
@@ -137,7 +137,7 @@
 #define NAV_LOITER_IMAX  10
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>112</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
@@ -157,7 +157,7 @@
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Heli Hil</name>
+    <name>ArduCopter V2.0.50 Beta Heli Hil</name>
     <desc>
 
 #define HIL_MODE            HIL_MODE_ATTITUDE
@@ -203,6 +203,6 @@
 
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>112</format_version>
   </Firmware>
 </options>
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/git.log b/Tools/ArdupilotMegaPlanner/Firmware/git.log
index 04b288c7e4..ca7ab87b26 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/git.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/git.log
@@ -1,36 +1,545 @@
 From https://code.google.com/p/ardupilot-mega
-   8a21477..b0bfa54  APM_Camera -> origin/APM_Camera
-   6f44fff..076459c  master     -> origin/master
-Updating 6f44fff..076459c
+   b0bfa54..8d3fb35  APM_Camera -> origin/APM_Camera
+   cd1bcd6..34c9a18  master     -> origin/master
+Updating cd1bcd6..34c9a18
 Fast-forward
- ArduCopter/control_modes.pde                       |   16 +
+ .gitignore                                         |    4 +-
+ ArduBoat/ArduBoat.cpp                              |    7 +-
+ ArduBoat/ArduBoat.pde                              |    2 +-
+ ArduBoat/BoatGeneric.h                             |   39 +-
+ ArduBoat/ControllerBoat.h                          |  157 +-
+ ArduCopter/APM_Config.h                            |    7 +-
+ ArduCopter/ArduCopter.pde                          |   64 +-
+ ArduCopter/Attitude.pde                            |   54 +-
+ ArduCopter/CMakeLists.txt                          |  165 -
+ ArduCopter/GCS.h                                   |    7 +-
+ ArduCopter/GCS_Mavlink.pde                         |   23 +-
+ ArduCopter/Log.pde                                 |  261 +-
+ ArduCopter/Parameters.h                            |   12 +-
+ ArduCopter/config.h                                |   45 +-
+ ArduCopter/control_modes.pde                       |    8 +-
  ArduCopter/defines.h                               |    1 +
- ArduCopter/system.pde                              |    4 +
- ArduPlane/ArduPlane.pde                            |   10 +-
- ArduPlane/Parameters.h                             |    3 +
- ArduPlane/config.h                                 |    8 +
- Tools/ArduTracker/tags                             |148411 --------------------
- Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs    |    2 +
- Tools/ArdupilotMegaPlanner/Log.cs                  |  174 +-
- Tools/ArdupilotMegaPlanner/MainV2.cs               |    9 +-
+ ArduCopter/heli.pde                                |   25 +
+ ArduCopter/motors.pde                              |    4 +-
+ ArduCopter/navigation.pde                          |   42 +-
+ ArduCopter/radio.pde                               |   14 +-
+ ArduCopter/system.pde                              |   36 +-
+ ArduPlane/.gitignore                               |    1 -
+ ArduPlane/ArduPlane.pde                            |   27 +-
+ ArduPlane/CMakeLists.txt                           |  168 -
+ ArduPlane/GCS.h                                    |    7 +-
+ ArduPlane/GCS_Mavlink.pde                          |  464 +++-
+ ArduPlane/Log.pde                                  |   10 +-
+ ArduPlane/Mavlink_compat.h                         |  172 +
+ ArduPlane/Parameters.h                             |   12 +-
+ ArduPlane/commands.pde                             |   65 +-
+ ArduPlane/commands_logic.pde                       |  152 +-
+ ArduPlane/commands_process.pde                     |  183 +-
+ ArduPlane/config.h                                 |    5 +
+ ArduPlane/defines.h                                |    3 +-
+ ArduPlane/navigation.pde                           |    2 +-
+ ArduPlane/system.pde                               |   21 +-
+ ArduPlane/test.pde                                 |    6 +-
+ ArduRover/ArduRover.cpp                            |    6 +-
+ ArduRover/ArduRover.pde                            |    1 +
+ ArduRover/CarStampede.h                            |   31 +-
+ ArduRover/ControllerCar.h                          |  158 +-
+ ArduRover/ControllerTank.h                         |  176 +-
+ ArduRover/TankGeneric.h                            |   16 +-
+ CMakeLists.txt                                     |    9 +-
+ Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj    |    9 +
+ Tools/ArdupilotMegaPlanner/Camera.Designer.cs      |  421 +++
+ Tools/ArdupilotMegaPlanner/Camera.cs               |  139 +
+ Tools/ArdupilotMegaPlanner/Camera.resx             |  120 +
+ Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs       |   12 +-
+ Tools/ArdupilotMegaPlanner/CurrentState.cs         |   81 +-
+ .../GCSViews/Configuration.Designer.cs             |  137 +-
+ .../ArdupilotMegaPlanner/GCSViews/Configuration.cs |   47 +-
+ .../GCSViews/Configuration.resx                    | 2088 +++++-------
+ Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs    |   12 +-
+ .../GCSViews/FlightData.Designer.cs                |  155 +-
+ Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs  |  164 +-
+ .../ArdupilotMegaPlanner/GCSViews/FlightData.resx  |  604 ++--
+ .../ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs |    4 +-
+ Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs  |   18 +-
+ Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs    |    7 +
+ Tools/ArdupilotMegaPlanner/Joystick.cs             |   50 +-
+ .../ArdupilotMegaPlanner/JoystickSetup.Designer.cs |  276 ++-
+ Tools/ArdupilotMegaPlanner/JoystickSetup.cs        |  125 +-
+ Tools/ArdupilotMegaPlanner/JoystickSetup.resx      |  763 ++++-
+ Tools/ArdupilotMegaPlanner/MAVLink.cs              |   11 +-
+ Tools/ArdupilotMegaPlanner/MainV2.cs               |   87 +-
+ Tools/ArdupilotMegaPlanner/MavlinkLog.cs           |    9 +-
+ Tools/ArdupilotMegaPlanner/Program.cs              |    1 +
  .../Properties/AssemblyInfo.cs                     |    2 +-
+ Tools/ArdupilotMegaPlanner/SerialOutput.cs         |   13 +-
+ Tools/ArdupilotMegaPlanner/Setup/Setup.cs          |    4 +-
+ Tools/ArdupilotMegaPlanner/Updater/Updater.csproj  |    2 +-
  .../bin/Release/ArdupilotMegaPlanner.application   |    2 +-
- .../bin/Release/ArdupilotMegaPlanner.exe           |  Bin 2194432 -> 2194944 bytes
+ .../bin/Release/ArdupilotMegaPlanner.exe           |  Bin 2194944 -> 2188288 bytes
+ .../bin/Release/GCSViews/Configuration.resx        | 2088 +++++-------
+ .../bin/Release/GCSViews/FlightData.resx           |  604 ++--
+ .../bin/Release/JoystickSetup.resx                 |  763 ++++-
  Tools/ArdupilotMegaPlanner/bin/Release/Updater.exe |  Bin 8192 -> 8192 bytes
  Tools/ArdupilotMegaPlanner/bin/Release/resedit.exe |  Bin 20480 -> 20480 bytes
  .../ru-RU/ArdupilotMegaPlanner.resources.dll       |  Bin 53248 -> 53248 bytes
  .../zh-Hans/ArdupilotMegaPlanner.resources.dll     |  Bin 380928 -> 380928 bytes
- apo/ControllerQuad.h                               |   51 +-
- apo/QuadArducopter.h                               |   10 +-
- libraries/APO/AP_ArmingMechanism.cpp               |   57 +
- libraries/APO/AP_ArmingMechanism.h                 |   67 +
- libraries/APO/AP_BatteryMonitor.cpp                |    2 +
- libraries/APO/AP_BatteryMonitor.h                  |   58 +-
- libraries/APO/AP_Guide.h                           |    1 +
- libraries/APO/AP_HardwareAbstractionLayer.h        |   13 +
- libraries/APO/AP_Navigator.cpp                     |   20 +-
- libraries/Desktop/support/FastSerial.cpp           |  283 +-
- 27 files changed, 517 insertions(+), 148687 deletions(-)
- delete mode 100644 Tools/ArduTracker/tags
- create mode 100644 libraries/APO/AP_ArmingMechanism.cpp
- create mode 100644 libraries/APO/AP_ArmingMechanism.h
+ Tools/scripts/format.sh                            |   13 +
+ apo/ControllerPlane.h                              |  329 +-
+ apo/ControllerQuad.h                               |  414 +--
+ apo/PlaneEasystar.h                                |   18 +-
+ apo/QuadArducopter.h                               |   17 +-
+ apo/apo.pde                                        |    5 +-
+ libraries/APM_BMP085/APM_BMP085.h                  |    2 +-
+ libraries/APM_PI/APM_PI.cpp                        |    8 +-
+ libraries/APO/APO.h                                |    6 +-
+ libraries/APO/APO_DefaultSetup.h                   |  321 +-
+ libraries/APO/AP_ArmingMechanism.cpp               |   14 +-
+ libraries/APO/AP_ArmingMechanism.h                 |   10 +-
+ libraries/APO/AP_Autopilot.cpp                     |  461 ++--
+ libraries/APO/AP_Autopilot.h                       |  195 +-
+ libraries/APO/AP_BatteryMonitor.h                  |    1 -
+ libraries/APO/AP_CommLink.cpp                      | 1280 ++++----
+ libraries/APO/AP_CommLink.h                        |  126 +-
+ libraries/APO/AP_Controller.cpp                    |  111 +-
+ libraries/APO/AP_Controller.h                      |  402 ++-
+ libraries/APO/AP_Guide.cpp                         |  429 ++-
+ libraries/APO/AP_Guide.h                           |  203 +-
+ libraries/APO/AP_HardwareAbstractionLayer.cpp      |    1 +
+ libraries/APO/AP_HardwareAbstractionLayer.h        |  258 +-
+ libraries/APO/AP_MavlinkCommand.cpp                |  304 +-
+ libraries/APO/AP_MavlinkCommand.h                  |  654 ++--
+ libraries/APO/AP_Navigator.cpp                     |  298 +-
+ libraries/APO/AP_Navigator.h                       |  358 +-
+ libraries/APO/AP_RcChannel.cpp                     |  125 +-
+ libraries/APO/AP_RcChannel.h                       |  103 +-
+ libraries/APO/AP_Var_keys.h                        |   21 +-
+ libraries/APO/constants.h                          |    1 +
+ libraries/APO/examples/MavlinkTest/MavlinkTest.pde |   64 +-
+ libraries/APO/examples/ServoManual/ServoManual.pde |  144 +-
+ libraries/APO/examples/ServoSweep/ServoSweep.pde   |  184 +-
+ libraries/AP_Common/AP_Common.h                    |   20 +-
+ libraries/AP_Common/AP_Test.h                      |    4 +-
+ libraries/AP_Common/AP_Var.cpp                     |   80 +-
+ libraries/AP_Common/AP_Var.h                       |   12 +-
+ libraries/AP_Common/c++.cpp                        |   22 +-
+ libraries/AP_Common/examples/menu/menu.pde         |   22 +-
+ libraries/AP_Common/include/menu.h                 |  186 +-
+ libraries/AP_Common/menu.cpp                       |  198 +-
+ libraries/AP_DCM/AP_DCM_HIL.cpp                    |   12 +-
+ libraries/AP_GPS/AP_GPS_406.cpp                    |   72 +-
+ libraries/AP_GPS/AP_GPS_406.h                      |    8 +-
+ libraries/AP_GPS/AP_GPS_Auto.cpp                   |  316 +-
+ libraries/AP_GPS/AP_GPS_Auto.h                     |   58 +-
+ libraries/AP_GPS/AP_GPS_HIL.cpp                    |   18 +-
+ libraries/AP_GPS/AP_GPS_HIL.h                      |   10 +-
+ libraries/AP_GPS/AP_GPS_IMU.cpp                    |  294 +-
+ libraries/AP_GPS/AP_GPS_IMU.h                      |   68 +-
+ libraries/AP_GPS/AP_GPS_MTK.cpp                    |  226 +-
+ libraries/AP_GPS/AP_GPS_MTK.h                      |   74 +-
+ libraries/AP_GPS/AP_GPS_MTK16.cpp                  |  240 +-
+ libraries/AP_GPS/AP_GPS_MTK16.h                    |   78 +-
+ libraries/AP_GPS/AP_GPS_NMEA.cpp                   |  528 ++--
+ libraries/AP_GPS/AP_GPS_NMEA.h                     |  118 +-
+ libraries/AP_GPS/AP_GPS_None.h                     |    8 +-
+ libraries/AP_GPS/AP_GPS_SIRF.cpp                   |  280 +-
+ libraries/AP_GPS/AP_GPS_SIRF.h                     |  130 +-
+ libraries/AP_GPS/AP_GPS_Shim.h                     |   38 +-
+ libraries/AP_GPS/AP_GPS_UBLOX.cpp                  |  292 +-
+ libraries/AP_GPS/AP_GPS_UBLOX.h                    |  184 +-
+ libraries/AP_GPS/GPS.cpp                           |   50 +-
+ libraries/AP_GPS/GPS.h                             |  330 +-
+ .../AP_GPS/examples/GPS_406_test/GPS_406_test.pde  |   62 +-
+ .../examples/GPS_AUTO_test/GPS_AUTO_test.pde       |   42 +-
+ .../AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde  |   60 +-
+ .../examples/GPS_NMEA_test/GPS_NMEA_test.pde       |   81 +-
+ .../examples/GPS_UBLOX_test/GPS_UBLOX_test.pde     |   60 +-
+ libraries/Desktop/Desktop.mk                       |    2 +-
+ libraries/Desktop/Makefile.desktop                 |    3 +
+ libraries/GCS_MAVLink/GCS_MAVLink.cpp              |    6 +-
+ libraries/GCS_MAVLink/GCS_MAVLink.h                |   18 +-
+ .../include/ardupilotmega/ardupilotmega.h          |   74 +-
+ .../include/ardupilotmega/mavlink_msg_ap_adc.h     |  254 ++
+ .../ardupilotmega/mavlink_msg_digicam_configure.h  |  364 ++
+ .../ardupilotmega/mavlink_msg_digicam_control.h    |  342 ++
+ .../ardupilotmega/mavlink_msg_mount_configure.h    |  254 ++
+ .../ardupilotmega/mavlink_msg_mount_control.h      |  254 ++
+ .../ardupilotmega/mavlink_msg_mount_status.h       |  232 ++
+ .../GCS_MAVLink/include/ardupilotmega/testsuite.h  |  340 ++
+ .../GCS_MAVLink/include/ardupilotmega/version.h    |    2 +-
+ libraries/GCS_MAVLink/include/bittest.c            |   39 -
+ libraries/GCS_MAVLink/include/common/common.h      |   52 +-
+ .../mavlink_msg_attitude_controller_output.h       |  169 -
+ .../include/common/mavlink_msg_attitude_new.h      |  268 --
+ .../include/common/mavlink_msg_auth_key.h          |    6 +-
+ .../common/mavlink_msg_change_operator_control.h   |    6 +-
+ .../include/common/mavlink_msg_debug_vect.h        |    6 +-
+ .../include/common/mavlink_msg_full_state.h        |  428 ---
+ .../include/common/mavlink_msg_gps_status.h        |   30 +-
+ .../include/common/mavlink_msg_named_value_float.h |    6 +-
+ .../include/common/mavlink_msg_named_value_int.h   |    6 +-
+ .../common/mavlink_msg_object_detection_event.h    |    6 +-
+ .../common/mavlink_msg_param_request_read.h        |    6 +-
+ .../include/common/mavlink_msg_param_set.h         |    6 +-
+ .../include/common/mavlink_msg_param_value.h       |    6 +-
+ .../mavlink_msg_position_controller_output.h       |  169 -
+ .../mavlink_msg_request_dynamic_gyro_calibration.h |  177 -
+ .../mavlink_msg_request_static_calibration.h       |  138 -
+ .../common/mavlink_msg_set_roll_pitch_yaw.h        |  184 -
+ .../common/mavlink_msg_set_roll_pitch_yaw_speed.h  |  184 -
+ .../include/common/mavlink_msg_statustext.h        |    6 +-
+ .../mavlink_msg_waypoint_set_global_reference.h    |  294 --
+ libraries/GCS_MAVLink/include/common/testsuite.h   |   30 +-
+ libraries/GCS_MAVLink/include/common/version.h     |    2 +-
+ libraries/GCS_MAVLink/include/documentation.dox    |   41 -
+ libraries/GCS_MAVLink/include/mavlink_helpers.h    |    8 +-
+ libraries/GCS_MAVLink/include/minimal/mavlink.h    |   11 -
+ .../include/minimal/mavlink_msg_heartbeat.h        |  132 -
+ libraries/GCS_MAVLink/include/minimal/minimal.h    |   45 -
+ libraries/GCS_MAVLink/include/pixhawk/mavlink.h    |   11 -
+ .../include/pixhawk/mavlink_msg_attitude_control.h |  257 --
+ .../include/pixhawk/mavlink_msg_aux_status.h       |  204 -
+ .../include/pixhawk/mavlink_msg_brief_feature.h    |  249 --
+ .../include/pixhawk/mavlink_msg_control_status.h   |  203 -
+ .../mavlink_msg_data_transmission_handshake.h      |  174 -
+ .../include/pixhawk/mavlink_msg_debug_vect.h       |  156 -
+ .../pixhawk/mavlink_msg_encapsulated_data.h        |  124 -
+ .../pixhawk/mavlink_msg_encapsulated_image.h       |   76 -
+ .../include/pixhawk/mavlink_msg_get_image_ack.h    |  104 -
+ .../include/pixhawk/mavlink_msg_image_available.h  |  586 ---
+ .../pixhawk/mavlink_msg_image_trigger_control.h    |  101 -
+ .../include/pixhawk/mavlink_msg_image_triggered.h  |  352 --
+ .../include/pixhawk/mavlink_msg_manual_control.h   |  191 -
+ .../include/pixhawk/mavlink_msg_marker.h           |  236 --
+ .../include/pixhawk/mavlink_msg_pattern_detected.h |  160 -
+ .../pixhawk/mavlink_msg_point_of_interest.h        |  241 --
+ .../mavlink_msg_point_of_interest_connection.h     |  307 --
+ .../mavlink_msg_position_control_offset_set.h      |  206 -
+ .../mavlink_msg_position_control_setpoint.h        |  192 -
+ .../mavlink_msg_position_control_setpoint_set.h    |  226 --
+ .../include/pixhawk/mavlink_msg_raw_aux.h          |  226 --
+ .../pixhawk/mavlink_msg_request_data_stream.h      |  118 -
+ .../mavlink_msg_request_dynamic_gyro_calibration.h |  123 -
+ .../mavlink_msg_request_static_calibration.h       |   90 -
+ .../include/pixhawk/mavlink_msg_set_altitude.h     |   78 -
+ .../include/pixhawk/mavlink_msg_set_cam_shutter.h  |  197 -
+ .../include/pixhawk/mavlink_msg_watchdog_command.h |  158 -
+ .../pixhawk/mavlink_msg_watchdog_heartbeat.h       |  124 -
+ .../pixhawk/mavlink_msg_watchdog_process_info.h    |  186 -
+ .../pixhawk/mavlink_msg_watchdog_process_status.h  |  200 -
+ libraries/GCS_MAVLink/include/pixhawk/pixhawk.h    |   79 -
+ libraries/GCS_MAVLink/include/protocol.h           |   37 +-
+ libraries/GCS_MAVLink/include/slugs/mavlink.h      |   11 -
+ .../include/slugs/mavlink_msg_air_data.h           |  148 -
+ .../include/slugs/mavlink_msg_cpu_load.h           |  138 -
+ .../include/slugs/mavlink_msg_ctrl_srfc_pt.h       |  121 -
+ .../include/slugs/mavlink_msg_data_log.h           |  216 --
+ .../include/slugs/mavlink_msg_diagnostic.h         |  210 --
+ .../include/slugs/mavlink_msg_filtered_data.h      |  216 --
+ .../include/slugs/mavlink_msg_gps_date_time.h      |  203 -
+ .../include/slugs/mavlink_msg_mid_lvl_cmds.h       |  167 -
+ .../GCS_MAVLink/include/slugs/mavlink_msg_pid.h    |  130 -
+ .../include/slugs/mavlink_msg_pilot_console.h      |  145 -
+ .../include/slugs/mavlink_msg_pwm_commands.h       |  235 --
+ .../include/slugs/mavlink_msg_sensor_bias.h        |  216 --
+ .../include/slugs/mavlink_msg_slugs_action.h       |  138 -
+ .../include/slugs/mavlink_msg_slugs_navigation.h   |  272 --
+ libraries/GCS_MAVLink/include/slugs/slugs.h        |   56 -
+ libraries/GCS_MAVLink/include/ualberta/mavlink.h   |   11 -
+ .../include/ualberta/mavlink_msg_nav_filter_bias.h |  242 --
+ .../ualberta/mavlink_msg_radio_calibration.h       |  204 -
+ .../mavlink_msg_request_radio_calibration.h        |   59 -
+ .../ualberta/mavlink_msg_request_rc_channels.h     |  101 -
+ .../ualberta/mavlink_msg_ualberta_sys_status.h     |  135 -
+ libraries/GCS_MAVLink/include/ualberta/ualberta.h  |   79 -
+ .../include_v1.0/ardupilotmega/ardupilotmega.h     |  122 +
+ .../include_v1.0/ardupilotmega/mavlink.h           |   27 +
+ .../ardupilotmega/mavlink_msg_ap_adc.h             |  254 ++
+ .../ardupilotmega/mavlink_msg_digicam_configure.h  |  364 ++
+ .../ardupilotmega/mavlink_msg_digicam_control.h    |  342 ++
+ .../ardupilotmega/mavlink_msg_meminfo.h            |  166 +
+ .../ardupilotmega/mavlink_msg_mount_configure.h    |  254 ++
+ .../ardupilotmega/mavlink_msg_mount_control.h      |  254 ++
+ .../ardupilotmega/mavlink_msg_mount_status.h       |  232 ++
+ .../ardupilotmega/mavlink_msg_sensor_offsets.h     |  386 ++
+ .../ardupilotmega/mavlink_msg_set_mag_offsets.h    |  232 ++
+ .../include_v1.0/ardupilotmega/testsuite.h         |  538 +++
+ .../include_v1.0/ardupilotmega/version.h           |   12 +
+ libraries/GCS_MAVLink/include_v1.0/checksum.h      |   89 +
+ libraries/GCS_MAVLink/include_v1.0/common/common.h |  429 +++
+ .../GCS_MAVLink/include_v1.0/common/mavlink.h      |   27 +
+ .../include_v1.0/common/mavlink_msg_attitude.h     |  276 ++
+ .../common/mavlink_msg_attitude_quaternion.h       |  298 ++
+ .../include_v1.0/common/mavlink_msg_auth_key.h     |  144 +
+ .../common/mavlink_msg_change_operator_control.h   |  204 +
+ .../mavlink_msg_change_operator_control_ack.h      |  188 +
+ .../include_v1.0/common/mavlink_msg_command_ack.h  |  166 +
+ .../include_v1.0/common/mavlink_msg_command_long.h |  364 ++
+ .../include_v1.0/common/mavlink_msg_data_stream.h  |  188 +
+ .../include_v1.0/common/mavlink_msg_debug.h        |  188 +
+ .../include_v1.0/common/mavlink_msg_debug_vect.h   |  226 ++
+ .../common/mavlink_msg_extended_message.h          |  188 +
+ .../common/mavlink_msg_global_position_int.h       |  320 ++
+ .../mavlink_msg_global_position_setpoint_int.h     |  232 ++
+ .../mavlink_msg_global_vision_position_estimate.h  |  276 ++
+ .../common/mavlink_msg_gps_global_origin.h         |  188 +
+ .../include_v1.0/common/mavlink_msg_gps_raw_int.h  |  342 ++
+ .../include_v1.0/common/mavlink_msg_gps_status.h   |  252 ++
+ .../include_v1.0/common/mavlink_msg_heartbeat.h    |  251 ++
+ .../include_v1.0/common/mavlink_msg_hil_controls.h |  364 ++
+ .../common/mavlink_msg_hil_rc_inputs_raw.h         |  430 +++
+ .../include_v1.0/common/mavlink_msg_hil_state.h    |  474 +++
+ .../common/mavlink_msg_local_position_ned.h        |  276 ++
+ .../common/mavlink_msg_local_position_setpoint.h   |  232 ++
+ .../common/mavlink_msg_manual_control.h            |  320 ++
+ .../include_v1.0/common/mavlink_msg_memory_vect.h  |  204 +
+ .../include_v1.0/common/mavlink_msg_mission_ack.h  |  188 +
+ .../common/mavlink_msg_mission_clear_all.h         |  166 +
+ .../common/mavlink_msg_mission_count.h             |  188 +
+ .../common/mavlink_msg_mission_current.h           |  144 +
+ .../include_v1.0/common/mavlink_msg_mission_item.h |  430 +++
+ .../common/mavlink_msg_mission_item_reached.h      |  144 +
+ .../common/mavlink_msg_mission_request.h           |  188 +
+ .../common/mavlink_msg_mission_request_list.h      |  166 +
+ .../mavlink_msg_mission_request_partial_list.h     |  210 ++
+ .../common/mavlink_msg_mission_set_current.h       |  188 +
+ .../mavlink_msg_mission_write_partial_list.h       |  210 ++
+ .../common/mavlink_msg_named_value_float.h         |  182 +
+ .../common/mavlink_msg_named_value_int.h           |  182 +
+ .../common/mavlink_msg_nav_controller_output.h     |  298 ++
+ .../include_v1.0/common/mavlink_msg_optical_flow.h |  254 ++
+ .../common/mavlink_msg_param_request_list.h        |  166 +
+ .../common/mavlink_msg_param_request_read.h        |  204 +
+ .../include_v1.0/common/mavlink_msg_param_set.h    |  226 ++
+ .../include_v1.0/common/mavlink_msg_param_value.h  |  226 ++
+ .../include_v1.0/common/mavlink_msg_ping.h         |  210 ++
+ .../include_v1.0/common/mavlink_msg_raw_imu.h      |  342 ++
+ .../include_v1.0/common/mavlink_msg_raw_pressure.h |  232 ++
+ .../common/mavlink_msg_rc_channels_override.h      |  342 ++
+ .../common/mavlink_msg_rc_channels_raw.h           |  364 ++
+ .../common/mavlink_msg_rc_channels_scaled.h        |  364 ++
+ .../common/mavlink_msg_request_data_stream.h       |  232 ++
+ ...link_msg_roll_pitch_yaw_speed_thrust_setpoint.h |  232 ++
+ .../mavlink_msg_roll_pitch_yaw_thrust_setpoint.h   |  232 ++
+ .../common/mavlink_msg_safety_allowed_area.h       |  276 ++
+ .../common/mavlink_msg_safety_set_allowed_area.h   |  320 ++
+ .../include_v1.0/common/mavlink_msg_scaled_imu.h   |  342 ++
+ .../common/mavlink_msg_scaled_pressure.h           |  210 ++
+ .../common/mavlink_msg_servo_output_raw.h          |  342 ++
+ .../mavlink_msg_set_global_position_setpoint_int.h |  232 ++
+ .../common/mavlink_msg_set_gps_global_origin.h     |  210 ++
+ .../mavlink_msg_set_local_position_setpoint.h      |  276 ++
+ .../include_v1.0/common/mavlink_msg_set_mode.h     |  188 +
+ .../mavlink_msg_set_roll_pitch_yaw_speed_thrust.h  |  254 ++
+ .../common/mavlink_msg_set_roll_pitch_yaw_thrust.h |  254 ++
+ .../common/mavlink_msg_state_correction.h          |  320 ++
+ .../include_v1.0/common/mavlink_msg_statustext.h   |  160 +
+ .../include_v1.0/common/mavlink_msg_sys_status.h   |  408 ++
+ .../include_v1.0/common/mavlink_msg_system_time.h  |  166 +
+ .../include_v1.0/common/mavlink_msg_vfr_hud.h      |  254 ++
+ .../common}/mavlink_msg_vicon_position_estimate.h  |  198 +-
+ .../common}/mavlink_msg_vision_position_estimate.h |  198 +-
+ .../common}/mavlink_msg_vision_speed_estimate.h    |  148 +-
+ .../GCS_MAVLink/include_v1.0/common/testsuite.h    | 3908 ++++++++++++++++++++
+ .../GCS_MAVLink/include_v1.0/common/version.h      |   12 +
+ .../GCS_MAVLink/include_v1.0/mavlink_helpers.h     |  488 +++
+ libraries/GCS_MAVLink/include_v1.0/mavlink_types.h |  182 +
+ libraries/GCS_MAVLink/include_v1.0/protocol.h      |  319 ++
+ .../message_definitions/ardupilotmega.xml          |  132 +
+ libraries/GCS_MAVLink/message_definitions/test.xml |   31 +
+ .../message_definitions_v1.0/ardupilotmega.xml     |  177 +
+ .../message_definitions_v1.0/common.xml            | 1536 ++++++++
+ .../message_definitions_v1.0/minimal.xml           |   16 +
+ .../message_definitions_v1.0/pixhawk.xml           |  193 +
+ .../GCS_MAVLink/message_definitions_v1.0/slugs.xml |  144 +
+ .../GCS_MAVLink/message_definitions_v1.0/test.xml  |   31 +
+ .../message_definitions_v1.0/ualberta.xml          |   54 +
+ libraries/RC_Channel/RC_Channel.cpp                |    2 +-
+ libraries/RC_Channel/RC_Channel.h                  |    8 +-
+ libraries/RC_Channel/RC_Channel_aux.cpp            |    2 +-
+ libraries/RC_Channel/RC_Channel_aux.h              |    1 +
+ 355 files changed, 43388 insertions(+), 22115 deletions(-)
+ delete mode 100644 ArduCopter/CMakeLists.txt
+ delete mode 100644 ArduPlane/.gitignore
+ delete mode 100644 ArduPlane/CMakeLists.txt
+ create mode 100644 ArduPlane/Mavlink_compat.h
+ create mode 100644 Tools/ArdupilotMegaPlanner/Camera.Designer.cs
+ create mode 100644 Tools/ArdupilotMegaPlanner/Camera.cs
+ create mode 100644 Tools/ArdupilotMegaPlanner/Camera.resx
+ create mode 100755 Tools/scripts/format.sh
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ap_adc.h
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_digicam_configure.h
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_digicam_control.h
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_configure.h
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_control.h
+ create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_mount_status.h
+ delete mode 100644 libraries/GCS_MAVLink/include/bittest.c
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_controller_output.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_attitude_new.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_full_state.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_position_controller_output.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_request_dynamic_gyro_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_request_static_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_set_roll_pitch_yaw_speed.h
+ delete mode 100644 libraries/GCS_MAVLink/include/common/mavlink_msg_waypoint_set_global_reference.h
+ delete mode 100644 libraries/GCS_MAVLink/include/documentation.dox
+ delete mode 100644 libraries/GCS_MAVLink/include/minimal/mavlink.h
+ delete mode 100644 libraries/GCS_MAVLink/include/minimal/mavlink_msg_heartbeat.h
+ delete mode 100644 libraries/GCS_MAVLink/include/minimal/minimal.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_attitude_control.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_aux_status.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_brief_feature.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_control_status.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_data_transmission_handshake.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_debug_vect.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_encapsulated_data.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_encapsulated_image.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_get_image_ack.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_available.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_trigger_control.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_triggered.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_manual_control.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_marker.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_pattern_detected.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_point_of_interest.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_point_of_interest_connection.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_offset_set.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_position_control_setpoint_set.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_raw_aux.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_data_stream.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_dynamic_gyro_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_request_static_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_set_altitude.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_set_cam_shutter.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_command.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_info.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_watchdog_process_status.h
+ delete mode 100644 libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_air_data.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_cpu_load.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_ctrl_srfc_pt.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_data_log.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_diagnostic.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_filtered_data.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_gps_date_time.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_mid_lvl_cmds.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pid.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pilot_console.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_pwm_commands.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_sensor_bias.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_slugs_action.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/mavlink_msg_slugs_navigation.h
+ delete mode 100644 libraries/GCS_MAVLink/include/slugs/slugs.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_nav_filter_bias.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_radio_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_request_radio_calibration.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_request_rc_channels.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/mavlink_msg_ualberta_sys_status.h
+ delete mode 100644 libraries/GCS_MAVLink/include/ualberta/ualberta.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/ardupilotmega.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ap_adc.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_control.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_meminfo.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_configure.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_control.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_status.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/testsuite.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/version.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/checksum.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/common.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude_quaternion.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_auth_key.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control_ack.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_ack.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_long.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_data_stream.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug_vect.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_extended_message.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_int.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_setpoint_int.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_vision_position_estimate.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_global_origin.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_raw_int.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_status.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_heartbeat.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_controls.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_hil_state.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position_ned.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_local_position_setpoint.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_manual_control.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_memory_vect.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_ack.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_clear_all.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_count.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_current.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_item.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_item_reached.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request_list.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_request_partial_list.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_set_current.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_mission_write_partial_list.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_named_value_float.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_named_value_int.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_nav_controller_output.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_optical_flow.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_request_list.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_request_read.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_set.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_param_value.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_ping.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_raw_imu.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_raw_pressure.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_override.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_raw.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_rc_channels_scaled.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_request_data_stream.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_safety_allowed_area.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_safety_set_allowed_area.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_scaled_imu.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_scaled_pressure.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_servo_output_raw.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_gps_global_origin.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_local_position_setpoint.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_mode.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_state_correction.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_statustext.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_sys_status.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_system_time.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/mavlink_msg_vfr_hud.h
+ rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vicon_position_estimate.h (54%)
+ rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vision_position_estimate.h (54%)
+ rename libraries/GCS_MAVLink/{include/pixhawk => include_v1.0/common}/mavlink_msg_vision_speed_estimate.h (57%)
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/testsuite.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/common/version.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/mavlink_helpers.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/mavlink_types.h
+ create mode 100644 libraries/GCS_MAVLink/include_v1.0/protocol.h
+ create mode 100644 libraries/GCS_MAVLink/message_definitions/test.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/ardupilotmega.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/common.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/minimal.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/pixhawk.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/slugs.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/test.xml
+ create mode 100644 libraries/GCS_MAVLink/message_definitions_v1.0/ualberta.xml