diff --git a/ArduBoat/ArduBoat.cpp b/ArduBoat/ArduBoat.cpp
index 58d159dd05..9841cf6c17 100644
--- a/ArduBoat/ArduBoat.cpp
+++ b/ArduBoat/ArduBoat.cpp
@@ -13,9 +13,12 @@
 #include <APM_BMP085.h>
 #include <ModeFilter.h>
 #include <APO.h>
+#include <WProgram.h>
 
 // Vehicle Configuration
 #include "BoatGeneric.h"
 
 // ArduPilotOne Default Setup
 #include "APO_DefaultSetup.h"
+
+#include <WProgram.h>; int main(void) {init();setup();for(;;) loop(); return 0; }
diff --git a/ArduBoat/ArduBoat.pde b/ArduBoat/ArduBoat.pde
index 58d159dd05..cbe9a99c66 100644
--- a/ArduBoat/ArduBoat.pde
+++ b/ArduBoat/ArduBoat.pde
@@ -13,6 +13,7 @@
 #include <APM_BMP085.h>
 #include <ModeFilter.h>
 #include <APO.h>
+#include <WProgram.h>
 
 // Vehicle Configuration
 #include "BoatGeneric.h"
diff --git a/ArduBoat/CMakeLists.txt b/ArduBoat/CMakeLists.txt
deleted file mode 100644
index aa3fe000f0..0000000000
--- a/ArduBoat/CMakeLists.txt
+++ /dev/null
@@ -1,69 +0,0 @@
-cmake_minimum_required(VERSION 2.6)
-set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
-set(CMAKE_MODULE_PATH    ${CMAKE_SOURCE_DIR}/cmake/modules)  # CMake module search path
-
-string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
-project(${PROJECT_NAME} C CXX)
-
-set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
-
-find_package(Arduino 22 REQUIRED)
-
-if (NOT DEFINED BOARD)
-	message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
-	set(BOARD "mega")
-endif()
-message(STATUS "Board configured as: ${BOARD}")
-
-# need to configure based on host operating system
-set(${PROJECT_NAME}_PORT COM2)
-set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
-	
-include_directories(
-${ARDUINO_LIBRARIES_PATH}/Wire
-${CMAKE_SOURCE_DIR}/libraries/APO
-${CMAKE_SOURCE_DIR}/libraries/AP_Common
-${CMAKE_SOURCE_DIR}/libraries/FastSerial
-${CMAKE_SOURCE_DIR}/libraries/ModeFilter
-${CMAKE_SOURCE_DIR}/libraries/AP_Compass
-${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
-${CMAKE_SOURCE_DIR}/libraries/AP_GPS
-${CMAKE_SOURCE_DIR}/libraries/AP_IMU
-${CMAKE_SOURCE_DIR}/libraries/AP_ADC
-${CMAKE_SOURCE_DIR}/libraries/AP_DCM
-${CMAKE_SOURCE_DIR}/libraries/APM_RC
-${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
-${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
-)
-
-add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
-
-set(${PROJECT_NAME}_BOARD ${BOARD})
-file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
-file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
-file(GLOB ${PROJECT_NAME}_HDRS *.h)
-set(${PROJECT_NAME}_LIBS
-	c
-    m
-    APO
-    FastSerial
-    AP_Common
-    GCS_MAVLink
-    AP_GPS
-    APM_RC
-    AP_DCM
-    AP_ADC
-    AP_Compass
-    AP_IMU
-    AP_RangeFinder
-    APM_BMP085
-	ModeFilter
-)
-
-generate_arduino_firmware(${PROJECT_NAME})
-
-install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex 
-	DESTINATION bin
-	)
diff --git a/ArduRover/ArduRover.cpp b/ArduRover/ArduRover.cpp
index f6a1f17ac3..57f0903250 100644
--- a/ArduRover/ArduRover.cpp
+++ b/ArduRover/ArduRover.cpp
@@ -19,3 +19,5 @@
 
 // ArduPilotOne Default Setup
 #include "APO_DefaultSetup.h"
+
+#include <WProgram.h>; int main(void) {init();setup();for(;;) loop(); return 0; }
diff --git a/ArduRover/CMakeLists.txt b/ArduRover/CMakeLists.txt
deleted file mode 100644
index aa3fe000f0..0000000000
--- a/ArduRover/CMakeLists.txt
+++ /dev/null
@@ -1,69 +0,0 @@
-cmake_minimum_required(VERSION 2.6)
-set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
-set(CMAKE_MODULE_PATH    ${CMAKE_SOURCE_DIR}/cmake/modules)  # CMake module search path
-
-string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
-project(${PROJECT_NAME} C CXX)
-
-set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
-
-find_package(Arduino 22 REQUIRED)
-
-if (NOT DEFINED BOARD)
-	message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
-	set(BOARD "mega")
-endif()
-message(STATUS "Board configured as: ${BOARD}")
-
-# need to configure based on host operating system
-set(${PROJECT_NAME}_PORT COM2)
-set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
-	
-include_directories(
-${ARDUINO_LIBRARIES_PATH}/Wire
-${CMAKE_SOURCE_DIR}/libraries/APO
-${CMAKE_SOURCE_DIR}/libraries/AP_Common
-${CMAKE_SOURCE_DIR}/libraries/FastSerial
-${CMAKE_SOURCE_DIR}/libraries/ModeFilter
-${CMAKE_SOURCE_DIR}/libraries/AP_Compass
-${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
-${CMAKE_SOURCE_DIR}/libraries/AP_GPS
-${CMAKE_SOURCE_DIR}/libraries/AP_IMU
-${CMAKE_SOURCE_DIR}/libraries/AP_ADC
-${CMAKE_SOURCE_DIR}/libraries/AP_DCM
-${CMAKE_SOURCE_DIR}/libraries/APM_RC
-${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
-${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
-)
-
-add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
-
-set(${PROJECT_NAME}_BOARD ${BOARD})
-file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
-file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
-file(GLOB ${PROJECT_NAME}_HDRS *.h)
-set(${PROJECT_NAME}_LIBS
-	c
-    m
-    APO
-    FastSerial
-    AP_Common
-    GCS_MAVLink
-    AP_GPS
-    APM_RC
-    AP_DCM
-    AP_ADC
-    AP_Compass
-    AP_IMU
-    AP_RangeFinder
-    APM_BMP085
-	ModeFilter
-)
-
-generate_arduino_firmware(${PROJECT_NAME})
-
-install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex 
-	DESTINATION bin
-	)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0de7ace12..10749716b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,51 @@ if( NOT DEFINED CMAKE_BUILD_TYPE )
 	set( CMAKE_BUILD_TYPE "RelWithDebInfo" )
 endif()
 
+# set these for release
+set(APPLICATION_VERSION_MAJOR "1")
+set(APPLICATION_VERSION_MINOR "2")
+set(APPLICATION_VERSION_PATCH "0")
+
+# dependencies
+find_package(Arduino 22 REQUIRED)
+
+# cmake settigns
+set(APPLICATION_NAME ${PROJECT_NAME})
+set(APPLICATION_VERSION "${APPLICATION_VERSION_MAJOR}.${APPLICATION_VERSION_MINOR}.${APPLICATION_VERSION_PATCH}")
+
+# macros
+include(MacroEnsureOutOfSourceBuild)
+
+# disallow in-source build
+macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
+Please create a separate build directory and run 'cmake /path/to/${PROJECT_NAME} [options]' there.")
+
+# options
+if (NOT DEFINED BOARD)
+	message(STATUS "please define the board type (for example: cmake -DBOARD=mega, assuming mega")
+	set(BOARD "mega")
+endif()
+
+# cpack settings
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A universal autopilot system for the ArduPilotMega board.")
+set(CPACK_PACKAGE_VENDOR "DIYDRONES")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "james.goppert@gmail.com")
+set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
+set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README.txt")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt")
+set(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt")
+set(CPACK_PACKAGE_VERSION_MAJOR "${APPLICATION_VERSION_MAJOR}")
+set(CPACK_PACKAGE_VERSION_MINOR "${APPLICATION_VERSION_MINOR}")
+set(CPACK_PACKAGE_VERSION_PATCH "${APPLICATION_VERSION_PATCH}")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
+set(CPACK_SET_DESTDIR TRUE)
+set(CPACK_SOURCE_IGNORE_FILES ${CPACK_SOURCE_IGNORE_FILES}
+	/.git/;/build/;~$;.*\\\\.bin$;.*\\\\.swp$)
+set(CPACK_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+set(CPACK_SOURCE_GENERATOR "ZIP")
+set(CPACK_GENERATOR "ZIP")
+set(CPACK_PACKAGE_NAME "${APPLICATION_NAME}_${BOARD}")
+include(CPack)
 
 find_package(Arduino 22 REQUIRED)
 
@@ -27,35 +72,30 @@ if (NOT DEFINED BOARD)
 endif()
 message(STATUS "Board configured as: ${BOARD}")
 
-set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
-
-# standard project setup
-function(apo_project PROJECT_NAME) 
+# standard apm project setup
+macro(apm_project PROJECT_NAME BOARD SRCS) 
 	message(STATUS "creating apo project ${PROJECT_NAME}")
-	set(${PROJECT_NAME}_AFLAGS "-assembler-with-cpp")
 	set(${PROJECT_NAME}_BOARD ${BOARD})
-	set(${PROJECT_NAME}_SRCS ${PROJECT_NAME}/${PROJECT_NAME}.cpp)
+	set(${PROJECT_NAME}_AFLAGS "-assembler-with-cpp")
+	set(${PROJECT_NAME}_SRCS ${SRCS})
 	set(${PROJECT_NAME}_LIBS c)
 	generate_arduino_firmware(${PROJECT_NAME})
-endfunction()
+	set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+	install(FILES
+		${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex 
+		DESTINATION bin
+	)
+endmacro()
 
-# apo projects
-set(apo_BOARD ${BOARD})
-set(apo_AFLAGS "-assembler-with-cpp")
-set(apo_SRCS apo/apo.cpp)
-set(apo_LIBS c)
-generate_arduino_firmware(apo)
-#apo_project(apo)
-#apo_project(ArduBoat)
+set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
 
-# ArduPlane
-set(ArduPlane_BOARD ${BOARD})
+# projects
+apm_project(apo ${BOARD} apo/apo.cpp)
+apm_project(ArduRover ${BOARD} ArduRover/ArduRover.cpp)
+apm_project(ArduBoat ${BOARD} ArduBoat/ArduBoat.cpp)
 set(ArduPlane_SRCS
 	)
-#generate_arduino_firmware(ArduPlane)
-
-# ArduCopter
-set(ArduCopter_BOARD ${BOARD})
+#apm_project(ArduPlane ${BOARD} ${ArduPlane_SRCS})
 set(ArduCopter_SRCS
 	)
-#generate_arduino_firmware(ArduCopter)
+#apm_project(ArduPlane ${BOARD} ${ArduPlane_SRCS})
diff --git a/README.txt b/README.txt
index baa37247ae..b8f91718d6 100644
--- a/README.txt
+++ b/README.txt
@@ -17,3 +17,10 @@ Building using cmake
  - cmake ..
  - make (will build every sketch)
  - make ArduPlane (will build just ArduPlane etc.)
+
+Build a package using cpack
+-----------------------------------------------
+ - cd build
+ - cmake ..
+ - make package
+ - make package_source
diff --git a/apo/Makefile b/apo/Makefile
index 1d9b6a022d..ed8ea02d6b 100644
--- a/apo/Makefile
+++ b/apo/Makefile
@@ -1 +1,624 @@
-include ../libraries/AP_Common/Arduino.mk
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /hsl/homes/jgoppert/Projects/ardupilot-mega
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /hsl/homes/jgoppert/Projects/ardupilot-mega/apo
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /hsl/homes/jgoppert/Projects/ardupilot-mega/apo/CMakeFiles /hsl/homes/jgoppert/Projects/ardupilot-mega/apo/CMakeFiles/progress.marks
+	$(MAKE) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /hsl/homes/jgoppert/Projects/ardupilot-mega/apo/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named ArduBoat
+
+# Build rule for target.
+ArduBoat: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ArduBoat
+.PHONY : ArduBoat
+
+# fast build rule for target.
+ArduBoat/fast:
+	$(MAKE) -f CMakeFiles/ArduBoat.dir/build.make CMakeFiles/ArduBoat.dir/build
+.PHONY : ArduBoat/fast
+
+#=============================================================================
+# Target rules for targets named ArduRover
+
+# Build rule for target.
+ArduRover: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ArduRover
+.PHONY : ArduRover
+
+# fast build rule for target.
+ArduRover/fast:
+	$(MAKE) -f CMakeFiles/ArduRover.dir/build.make CMakeFiles/ArduRover.dir/build
+.PHONY : ArduRover/fast
+
+#=============================================================================
+# Target rules for targets named apo
+
+# Build rule for target.
+apo: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 apo
+.PHONY : apo
+
+# fast build rule for target.
+apo/fast:
+	$(MAKE) -f CMakeFiles/apo.dir/build.make CMakeFiles/apo.dir/build
+.PHONY : apo/fast
+
+#=============================================================================
+# Target rules for targets named mega_ArduBoat
+
+# Build rule for target.
+mega_ArduBoat: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 mega_ArduBoat
+.PHONY : mega_ArduBoat
+
+# fast build rule for target.
+mega_ArduBoat/fast:
+	$(MAKE) -f CMakeFiles/mega_ArduBoat.dir/build.make CMakeFiles/mega_ArduBoat.dir/build
+.PHONY : mega_ArduBoat/fast
+
+#=============================================================================
+# Target rules for targets named mega_CORE
+
+# Build rule for target.
+mega_CORE: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 mega_CORE
+.PHONY : mega_CORE
+
+# fast build rule for target.
+mega_CORE/fast:
+	$(MAKE) -f CMakeFiles/mega_CORE.dir/build.make CMakeFiles/mega_CORE.dir/build
+.PHONY : mega_CORE/fast
+
+ArduBoat/ArduBoat.obj: ArduBoat/ArduBoat.cpp.obj
+.PHONY : ArduBoat/ArduBoat.obj
+
+# target to build an object file
+ArduBoat/ArduBoat.cpp.obj:
+	$(MAKE) -f CMakeFiles/ArduBoat.dir/build.make CMakeFiles/ArduBoat.dir/ArduBoat/ArduBoat.cpp.obj
+	$(MAKE) -f CMakeFiles/mega_ArduBoat.dir/build.make CMakeFiles/mega_ArduBoat.dir/ArduBoat/ArduBoat.cpp.obj
+.PHONY : ArduBoat/ArduBoat.cpp.obj
+
+ArduBoat/ArduBoat.i: ArduBoat/ArduBoat.cpp.i
+.PHONY : ArduBoat/ArduBoat.i
+
+# target to preprocess a source file
+ArduBoat/ArduBoat.cpp.i:
+	$(MAKE) -f CMakeFiles/ArduBoat.dir/build.make CMakeFiles/ArduBoat.dir/ArduBoat/ArduBoat.cpp.i
+	$(MAKE) -f CMakeFiles/mega_ArduBoat.dir/build.make CMakeFiles/mega_ArduBoat.dir/ArduBoat/ArduBoat.cpp.i
+.PHONY : ArduBoat/ArduBoat.cpp.i
+
+ArduBoat/ArduBoat.s: ArduBoat/ArduBoat.cpp.s
+.PHONY : ArduBoat/ArduBoat.s
+
+# target to generate assembly for a file
+ArduBoat/ArduBoat.cpp.s:
+	$(MAKE) -f CMakeFiles/ArduBoat.dir/build.make CMakeFiles/ArduBoat.dir/ArduBoat/ArduBoat.cpp.s
+	$(MAKE) -f CMakeFiles/mega_ArduBoat.dir/build.make CMakeFiles/mega_ArduBoat.dir/ArduBoat/ArduBoat.cpp.s
+.PHONY : ArduBoat/ArduBoat.cpp.s
+
+ArduRover/ArduRover.obj: ArduRover/ArduRover.cpp.obj
+.PHONY : ArduRover/ArduRover.obj
+
+# target to build an object file
+ArduRover/ArduRover.cpp.obj:
+	$(MAKE) -f CMakeFiles/ArduRover.dir/build.make CMakeFiles/ArduRover.dir/ArduRover/ArduRover.cpp.obj
+.PHONY : ArduRover/ArduRover.cpp.obj
+
+ArduRover/ArduRover.i: ArduRover/ArduRover.cpp.i
+.PHONY : ArduRover/ArduRover.i
+
+# target to preprocess a source file
+ArduRover/ArduRover.cpp.i:
+	$(MAKE) -f CMakeFiles/ArduRover.dir/build.make CMakeFiles/ArduRover.dir/ArduRover/ArduRover.cpp.i
+.PHONY : ArduRover/ArduRover.cpp.i
+
+ArduRover/ArduRover.s: ArduRover/ArduRover.cpp.s
+.PHONY : ArduRover/ArduRover.s
+
+# target to generate assembly for a file
+ArduRover/ArduRover.cpp.s:
+	$(MAKE) -f CMakeFiles/ArduRover.dir/build.make CMakeFiles/ArduRover.dir/ArduRover/ArduRover.cpp.s
+.PHONY : ArduRover/ArduRover.cpp.s
+
+apo.obj: apo.cpp.obj
+.PHONY : apo.obj
+
+# target to build an object file
+apo.cpp.obj:
+	$(MAKE) -f CMakeFiles/apo.dir/build.make CMakeFiles/apo.dir/apo.cpp.obj
+.PHONY : apo.cpp.obj
+
+apo.i: apo.cpp.i
+.PHONY : apo.i
+
+# target to preprocess a source file
+apo.cpp.i:
+	$(MAKE) -f CMakeFiles/apo.dir/build.make CMakeFiles/apo.dir/apo.cpp.i
+.PHONY : apo.cpp.i
+
+apo.s: apo.cpp.s
+.PHONY : apo.s
+
+# target to generate assembly for a file
+apo.cpp.s:
+	$(MAKE) -f CMakeFiles/apo.dir/build.make CMakeFiles/apo.dir/apo.cpp.s
+.PHONY : apo.cpp.s
+
+usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.obj: usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.obj
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.obj
+
+# target to build an object file
+usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.obj:
+	$(MAKE) -f CMakeFiles/mega_CORE.dir/build.make CMakeFiles/mega_CORE.dir/usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.obj
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.obj
+
+usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.i: usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.i
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.i
+
+# target to preprocess a source file
+usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.i:
+	$(MAKE) -f CMakeFiles/mega_CORE.dir/build.make CMakeFiles/mega_CORE.dir/usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.i
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.i
+
+usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.s: usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.cpp.s
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.s
+
+# target to generate assembly for a file
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+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.obj
+
+usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.i: usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.i
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.i
+
+# target to preprocess a source file
+usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.i:
+	$(MAKE) -f CMakeFiles/mega_CORE.dir/build.make CMakeFiles/mega_CORE.dir/usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.i
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.i
+
+usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.s: usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.s
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.s
+
+# target to generate assembly for a file
+usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.s:
+	$(MAKE) -f CMakeFiles/mega_CORE.dir/build.make CMakeFiles/mega_CORE.dir/usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.s
+.PHONY : usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.c.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... ArduBoat"
+	@echo "... ArduRover"
+	@echo "... apo"
+	@echo "... edit_cache"
+	@echo "... mega_ArduBoat"
+	@echo "... mega_CORE"
+	@echo "... rebuild_cache"
+	@echo "... ArduBoat/ArduBoat.obj"
+	@echo "... ArduBoat/ArduBoat.i"
+	@echo "... ArduBoat/ArduBoat.s"
+	@echo "... ArduRover/ArduRover.obj"
+	@echo "... ArduRover/ArduRover.i"
+	@echo "... ArduRover/ArduRover.s"
+	@echo "... apo.obj"
+	@echo "... apo.i"
+	@echo "... apo.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/HardwareSerial.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Print.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Print.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Print.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Tone.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Tone.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/Tone.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WInterrupts.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WInterrupts.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WInterrupts.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WMath.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WMath.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WMath.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WString.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WString.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/WString.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/main.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/main.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/main.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/pins_arduino.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/pins_arduino.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/pins_arduino.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_analog.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_analog.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_analog.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_digital.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_digital.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_digital.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_pulse.s"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.obj"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.i"
+	@echo "... usr/share/arduino/hardware/arduino/cores/arduino/wiring_shift.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/apo/apo.pde b/apo/apo.pde
index d960de6681..5148713899 100644
--- a/apo/apo.pde
+++ b/apo/apo.pde
@@ -20,9 +20,4 @@
 #include "PlaneEasystar.h"
 
 // ArduPilotOne Default Setup
-//#include "APO_DefaultSetup.h"
-void setup() {
-};
-
-void loop() {
-};
+#include "APO_DefaultSetup.h"
diff --git a/cmake/modules/MacroEnsureOutOfSourceBuild.cmake b/cmake/modules/MacroEnsureOutOfSourceBuild.cmake
new file mode 100644
index 0000000000..3ff891b512
--- /dev/null
+++ b/cmake/modules/MacroEnsureOutOfSourceBuild.cmake
@@ -0,0 +1,19 @@
+# - MACRO_ENSURE_OUT_OF_SOURCE_BUILD(<errorMessage>)
+# MACRO_ENSURE_OUT_OF_SOURCE_BUILD(<errorMessage>)
+
+# Copyright (c) 2006, Alexander Neundorf, <neundorf@kde.org>
+#
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+macro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD _errorMessage)
+
+    string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}" _insource)
+    if (_insource)
+        file(REMOVE [CMakeCache.txt CMakeFiles]) 
+        message(FATAL_ERROR "${_errorMessage}")
+    endif (_insource)
+
+endmacro (MACRO_ENSURE_OUT_OF_SOURCE_BUILD)
+
+# vim:ts=4:sw=4:expandtab
diff --git a/cmake/updated-arduino-cmake.sh b/cmake/updated-arduino-cmake.sh
index 46c8fdd8a9..3c86d4b728 100755
--- a/cmake/updated-arduino-cmake.sh
+++ b/cmake/updated-arduino-cmake.sh
@@ -1,5 +1,5 @@
 #!/bin/bash
 git clone git@github.com:jgoppert/arduino-cmake.git tmp
-rm -rf modules toolchain
-mv tmp/cmake/* .
+cp -rf tmp/cmake/modules/* modules
+cp -rf tmp/cmake/toolchains/* toolchains
 rm -rf tmp