diff --git a/libraries/AP_GPS/AP_GPS_406.cpp b/libraries/AP_GPS/AP_GPS_406.cpp
index 6d7137c2b8..b11637642a 100644
--- a/libraries/AP_GPS/AP_GPS_406.cpp
+++ b/libraries/AP_GPS/AP_GPS_406.cpp
@@ -1,192 +1,192 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-/*
-	GPS_406.cpp - 406 GPS library for Arduino
-	Code by Jason Short, Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1)
-
-	This library is free software; you can redistribute it and / or
-	modify it under the terms of the GNU Lesser General Public
-	License as published by the Free Software Foundation; either
-	version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : 406 protocol
-	Baud rate : 57600
-
-	Methods:
-		init() : GPS initialization
-		update() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		Latitude : Latitude * 10,000,000 (long value)
-		Longitude : Longitude * 10,000,000 (long value)
-		altitude :	altitude * 100 (meters) (long value)
-		ground_speed : Speed (m/s) * 100 (long value)
-		ground_course : Course (degrees) * 100 (long value)
-		new_data : 1 when a new data is received.
-				You need to write a 0 to new_data when you read the data
-		fix : 1: GPS FIX, 0: No fix (normal logic)
-			
-*/
-
-#include "../FastSerial/FastSerial.h"	// because we need to change baud rates... ugh.
-#include "AP_GPS_406.h"
-#include "WProgram.h"
-#include <Stream.h>
-
-uint8_t AP_GPS_406::buffer[MAXPAYLOAD] = {0x24,0x50,0x53,0x52,0x46,0x31,0x30,0x30,0x2C,0x30,0x2C,0x35,0x37,0x36,0x30,0x30,0x2C,0x38,0x2C,0x31,0x2C,0x30,0x2A,0x33,0x37,0x0D,0x0A};
-
-#define PAYLOAD_LENGTH 92
-#define BAUD_RATE 57600
-
-// Constructors ////////////////////////////////////////////////////////////////
-AP_GPS_406::AP_GPS_406(Stream *s) : GPS(s)
-{
-}
-
-// Public Methods ////////////////////////////////////////////////////////////////////
-void AP_GPS_406::init(void)
-{
-	change_to_sirf_protocol();		// Changes to SIRF protocol and sets baud rate
-	delay(100);						// Waits fot the GPS to start_UP
-	configure_gps(); 				// Function to configure GPS, to output only the desired msg's
-}
-
-// optimization : This code doesnīt wait for data, only proccess the data available
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function calls parse_gps() to parse and update the GPS info.
-void AP_GPS_406::update(void)
-{
-	byte data;
-	int numc;
-
-	numc = _port->available();
-	
-	if (numc > 0){
-		for (int i = 0; i < numc; i++){	// Process bytes received
-			data = _port->read();
-		
-		switch(step){
-			case 0:
-				if(data == 0xA0)
-					step++;
-				break;
-				
-			case 1:	
-				if(data == 0xA2)
-					step++;
-				else
-					step = 0;
-				break;
-
-/*			case 2:	
-				if(data == 0xA2)
-					step++;
-				else
-					step = 0;
-				break;
-*/
-			case 2:	
-				if(data == 0x00)
-					step++;
-				else
-					step = 0;
-				break;
-
-			case 3:
-				if(data == 0x5B)
-					step++;
-				else
-					step = 0;
-				break;
-
-			case 4:
-				if(data == 0x29){
-					payload_counter = 0;
-					step++;
-				}else
-					step = 0;
-				break;
-								
-			case 5:	// Payload data read...
-				if (payload_counter <= PAYLOAD_LENGTH){	// We stay in this state until we reach the payload_length
-					buffer[payload_counter] = data;
-					payload_counter++;
-					if (payload_counter == PAYLOAD_LENGTH){
-						parse_gps();
-						step = 0;
-					}
-				}
-				break;
-			}
-		} // End for...
-	}
-}
-
-// Private Methods //////////////////////////////////////////////////////////////
-void
-AP_GPS_406::parse_gps(void)
-{
-	uint8_t j;
-
-	fix = buffer[1] > 0;
-
-	latitude     = _swapl(&buffer[22]);	// lat * 10, 000, 000
-	longitude    = _swapl(&buffer[26]);	// lon * 10, 000, 000
-	altitude     = _swapl(&buffer[34]);	// alt in meters * 100
-	ground_speed = _swapi(&buffer[39]);	// meters / second * 100
-
-	if (ground_speed >= 50) {			// Only updates data if we are really moving... 
-		ground_course = (unsigned int)_swapi(&buffer[41]);	// meters / second * 100
-	}
-
-	//climb_rate = _swapi(&buffer[45]);	// meters / second * 100
-
-	if (latitude == 0) {
-		new_data = false;
-		fix = false;
-	} else {
-		new_data = true;
-	}
-}
-
-void 
-AP_GPS_406::configure_gps(void)
-{
-	const uint8_t gps_header[] 		= {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00};
-	const uint8_t gps_payload[] 	= {0x02, 0x04, 0x07, 0x09, 0x1B};
-	const uint8_t gps_checksum[] 	= {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
-	const uint8_t gps_ender[]		= {0xB0, 0xB3};
-	
-	for(int z = 0; z < 2; z++){
-		for(int x = 0; x < 5; x++){
-			_port->write(gps_header, sizeof(gps_header));	// Prints the msg header, is the same header for all msg..
-			_port->write(gps_payload[x]);					// Prints the payload, is not the same for every msg
-			for(int y = 0; y < 6; y++)						// Prints 6 zeros
-				_port->write((uint8_t)0);
-			_port->write(gps_checksum[x]);					// Print the Checksum
-			_port->write(gps_ender[0]);						// Print the Ender of the string, is same on all msg's. 
-			_port->write(gps_ender[1]);						// ender	
-		}
-	}	
-}
-
-void 
-AP_GPS_406::change_to_sirf_protocol(void)
-{
-	FastSerial	*fs = (FastSerial *)_port;	// this is a bit grody...
-
-	fs->begin(4800);				// First try at 4800bps
-	delay(300);
-	_port->write(buffer, 28);		// Sending special bytes declared at the beginning 
-	delay(300);
-	
-	fs->begin(9600);				// Then try at 9600bps
-	delay(300);
-	_port->write(buffer, 28);
-	delay(300);
-	
-	fs->begin(BAUD_RATE);			// Finally try at the configured bit rate (57600?)
-	delay(300);
-	_port->write(buffer, 28);
-}
-
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+/*
+	GPS_406.cpp - 406 GPS library for Arduino
+	Code by Jason Short, Jordi Muņoz and Jose Julio. DIYDrones.com
+	This code works with boards based on ATMega168/328 ATMega1280 (Serial port 1)
+
+	This library is free software; you can redistribute it and / or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+
+	GPS configuration : 406 protocol
+	Baud rate : 57600
+
+	Methods:
+		init() : GPS initialization
+		update() : Call this funcion as often as you want to ensure you read the incomming gps data
+		
+	Properties:
+		Latitude : Latitude * 10,000,000 (long value)
+		Longitude : Longitude * 10,000,000 (long value)
+		altitude :	altitude * 100 (meters) (long value)
+		ground_speed : Speed (m/s) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
+		new_data : 1 when a new data is received.
+				You need to write a 0 to new_data when you read the data
+		fix : 1: GPS FIX, 0: No fix (normal logic)
+			
+*/
+
+#include "../FastSerial/FastSerial.h"	// because we need to change baud rates... ugh.
+#include "AP_GPS_406.h"
+#include "WProgram.h"
+#include <Stream.h>
+
+uint8_t AP_GPS_406::buffer[MAXPAYLOAD] = {0x24,0x50,0x53,0x52,0x46,0x31,0x30,0x30,0x2C,0x30,0x2C,0x35,0x37,0x36,0x30,0x30,0x2C,0x38,0x2C,0x31,0x2C,0x30,0x2A,0x33,0x37,0x0D,0x0A};
+
+#define PAYLOAD_LENGTH 92
+#define BAUD_RATE 57600
+
+// Constructors ////////////////////////////////////////////////////////////////
+AP_GPS_406::AP_GPS_406(Stream *s) : GPS(s)
+{
+}
+
+// Public Methods ////////////////////////////////////////////////////////////////////
+void AP_GPS_406::init(void)
+{
+	change_to_sirf_protocol();		// Changes to SIRF protocol and sets baud rate
+	delay(100);						// Waits fot the GPS to start_UP
+	configure_gps(); 				// Function to configure GPS, to output only the desired msg's
+}
+
+// optimization : This code doesnīt wait for data, only proccess the data available
+// We can call this function on the main loop (50Hz loop)
+// If we get a complete packet this function calls parse_gps() to parse and update the GPS info.
+void AP_GPS_406::update(void)
+{
+	byte data;
+	int numc;
+
+	numc = _port->available();
+	
+	if (numc > 0){
+		for (int i = 0; i < numc; i++){	// Process bytes received
+			data = _port->read();
+		
+		switch(step){
+			case 0:
+				if(data == 0xA0)
+					step++;
+				break;
+				
+			case 1:	
+				if(data == 0xA2)
+					step++;
+				else
+					step = 0;
+				break;
+
+/*			case 2:	
+				if(data == 0xA2)
+					step++;
+				else
+					step = 0;
+				break;
+*/
+			case 2:	
+				if(data == 0x00)
+					step++;
+				else
+					step = 0;
+				break;
+
+			case 3:
+				if(data == 0x5B)
+					step++;
+				else
+					step = 0;
+				break;
+
+			case 4:
+				if(data == 0x29){
+					payload_counter = 0;
+					step++;
+				}else
+					step = 0;
+				break;
+								
+			case 5:	// Payload data read...
+				if (payload_counter <= PAYLOAD_LENGTH){	// We stay in this state until we reach the payload_length
+					buffer[payload_counter] = data;
+					payload_counter++;
+					if (payload_counter == PAYLOAD_LENGTH){
+						parse_gps();
+						step = 0;
+					}
+				}
+				break;
+			}
+		} // End for...
+	}
+}
+
+// Private Methods //////////////////////////////////////////////////////////////
+void
+AP_GPS_406::parse_gps(void)
+{
+	uint8_t j;
+
+	fix = buffer[1] > 0;
+
+	latitude     = _swapl(&buffer[22]);	// lat * 10, 000, 000
+	longitude    = _swapl(&buffer[26]);	// lon * 10, 000, 000
+	altitude     = _swapl(&buffer[34]);	// alt in meters * 100
+	ground_speed = _swapi(&buffer[39]);	// meters / second * 100
+
+	if (ground_speed >= 50) {			// Only updates data if we are really moving... 
+		ground_course = (unsigned int)_swapi(&buffer[41]);	// meters / second * 100
+	}
+
+	//climb_rate = _swapi(&buffer[45]);	// meters / second * 100
+
+	if (latitude == 0) {
+		new_data = false;
+		fix = false;
+	} else {
+		new_data = true;
+	}
+}
+
+void 
+AP_GPS_406::configure_gps(void)
+{
+	const uint8_t gps_header[] 		= {0xA0, 0xA2, 0x00, 0x08, 0xA6, 0x00};
+	const uint8_t gps_payload[] 	= {0x02, 0x04, 0x07, 0x09, 0x1B};
+	const uint8_t gps_checksum[] 	= {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
+	const uint8_t gps_ender[]		= {0xB0, 0xB3};
+	
+	for(int z = 0; z < 2; z++){
+		for(int x = 0; x < 5; x++){
+			_port->write(gps_header, sizeof(gps_header));	// Prints the msg header, is the same header for all msg..
+			_port->write(gps_payload[x]);					// Prints the payload, is not the same for every msg
+			for(int y = 0; y < 6; y++)						// Prints 6 zeros
+				_port->write((uint8_t)0);
+			_port->write(gps_checksum[x]);					// Print the Checksum
+			_port->write(gps_ender[0]);						// Print the Ender of the string, is same on all msg's. 
+			_port->write(gps_ender[1]);						// ender	
+		}
+	}	
+}
+
+void 
+AP_GPS_406::change_to_sirf_protocol(void)
+{
+	FastSerial	*fs = (FastSerial *)_port;	// this is a bit grody...
+
+	fs->begin(4800);				// First try at 4800bps
+	delay(300);
+	_port->write(buffer, 28);		// Sending special bytes declared at the beginning 
+	delay(300);
+	
+	fs->begin(9600);				// Then try at 9600bps
+	delay(300);
+	_port->write(buffer, 28);
+	delay(300);
+	
+	fs->begin(BAUD_RATE);			// Finally try at the configured bit rate (57600?)
+	delay(300);
+	_port->write(buffer, 28);
+}
+
diff --git a/libraries/AP_GPS/AP_GPS_406.h b/libraries/AP_GPS/AP_GPS_406.h
index e9dbf63023..814f5b34fd 100644
--- a/libraries/AP_GPS/AP_GPS_406.h
+++ b/libraries/AP_GPS/AP_GPS_406.h
@@ -1,29 +1,29 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-#ifndef AP_GPS_406_h
-#define AP_GPS_406_h
-
-#include <GPS.h>
-#define MAXPAYLOAD 100
-
-class AP_GPS_406 : public GPS
-{
-public:
-    // Methods
-	AP_GPS_406(Stream *port);
-	void init();
-	void update();
-
-private:
-    // Internal variables
-	uint8_t step;
-	uint8_t payload_counter;
-	static uint8_t buffer[MAXPAYLOAD];
-	
-	void parse_gps();
-	void change_to_sirf_protocol(void);
-	void configure_gps(void);
-};
-
-#endif
-
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+#ifndef AP_GPS_406_h
+#define AP_GPS_406_h
+
+#include <GPS.h>
+#define MAXPAYLOAD 100
+
+class AP_GPS_406 : public GPS
+{
+public:
+    // Methods
+	AP_GPS_406(Stream *port);
+	void init();
+	void update();
+
+private:
+    // Internal variables
+	uint8_t step;
+	uint8_t payload_counter;
+	static uint8_t buffer[MAXPAYLOAD];
+	
+	void parse_gps();
+	void change_to_sirf_protocol(void);
+	void configure_gps(void);
+};
+
+#endif
+
diff --git a/libraries/AP_GPS/AP_GPS_IMU.cpp b/libraries/AP_GPS/AP_GPS_IMU.cpp
index 4ce66292b6..dfb1f62f89 100755
--- a/libraries/AP_GPS/AP_GPS_IMU.cpp
+++ b/libraries/AP_GPS/AP_GPS_IMU.cpp
@@ -1,224 +1,224 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-/*
-	GPS_MTK.cpp - Ublox GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
-
-	This library is free software; you can redistribute it and/or
-		modify it under the terms of the GNU Lesser General Public
-		License as published by the Free Software Foundation; either
-		version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : Costum protocol
-	Baud rate : 38400
-
-	Methods:
-		init() : GPS initialization
-		update() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		lattitude : lattitude * 10000000 (long value)
-		longitude : longitude * 10000000 (long value)
-		altitude :	altitude * 100 (meters) (long value)
-		ground_speed : Speed (m/s) * 100 (long value)
-		ground_course : Course (degrees) * 100 (long value)
-		new_data : 1 when a new data is received.
-							You need to write a 0 to new_data when you read the data
-		fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
-			
-*/
-#include "AP_GPS_IMU.h"
-#include "WProgram.h"
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-AP_GPS_IMU::AP_GPS_IMU(Stream *s) : GPS(s)
-{
-}
-
-
-// Public Methods //////////////////////////////////////////////////////////////
-void AP_GPS_IMU::init(void)
-{
-	// we expect the stream to already be open at the corret bitrate
-}
-
-// optimization : This code doesn't wait for data. It only proccess the data available.
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function calls parse_IMU_gps() to parse and update the GPS info.
-void AP_GPS_IMU::update(void)
-{
-	byte data;
-	int numc = 0;
-	static byte message_num = 0;
-
-	numc = _port->available();
-
-	if (numc > 0){
-		for (int i=0;i<numc;i++){	// Process bytes received		
-
-			data = _port->read();
-			
-			switch(step){		 //Normally we start from zero. This is a state machine
-				case 0:	
-					if(data == 0x44)	// IMU sync char 1
-						step++;	 //OH first data packet is correct, so jump to the next step
-					break; 
-					
-				case 1:	
-					if(data == 0x49)	// IMU sync char 2
-						step++;	 //ooh! The second data packet is correct, jump to the step 2
-					else 
-						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
-					break;
-	
-				case 2:	
-					if(data == 0x59)	// IMU sync char 3
-						step++;	 //ooh! The second data packet is correct, jump to the step 2
-					else 
-						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
-					break;
-	
-				case 3:	
-					if(data == 0x64)	// IMU sync char 4
-						step++;	 //ooh! The second data packet is correct, jump to the step 2
-					else 
-						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
-					break;
-										
-				case 4:
-					payload_length = data;
-					checksum(payload_length);
-					step++;
-					if (payload_length > 28){
-						step = 0;	 //Bad data, so restart to step zero and try again.		 
-						payload_counter = 0;
-						ck_a = 0;
-						ck_b = 0;
-						//payload_error_count++;
-					} 
-					break;
-					
-				case 5:
-					message_num = data;
-					checksum(data);
-					step++;
-					break;
-	
-				case 6:	// Payload data read...
-					// We stay in this state until we reach the payload_length
-					buffer[payload_counter] = data;
-					checksum(data);
-					payload_counter++;
-					if (payload_counter >= payload_length) { 
-						step++; 
-					}
-					break;
-					
-				case 7:
-					GPS_ck_a = data;	 // First checksum byte
-					step++;
-					break;
-										
-				case 8:
-					GPS_ck_b = data;	 // Second checksum byte
-	
-					// We end the IMU/GPS read...
-					// Verify the received checksum with the generated checksum.. 
-					if((ck_a == GPS_ck_a) && (ck_b == GPS_ck_b)) {
-						if (message_num == 0x02) {
-							join_data();
-						} else if (message_num == 0x03) {
-							GPS_join_data();
-						} else if (message_num == 0x04) {
-							join_data_xplane();
-						} else if (message_num == 0x0a) {
-							//PERF_join_data();
-						} else {
-							_error("Invalid message number = %d\n", (int)message_num);
-						}
-					} else {
-						_error("XXX Checksum error\n");	//bad checksum
-						//imu_checksum_error_count++;
-					} 						 
-					// Variable initialization
-					step = 0;
-					payload_counter = 0;
-					ck_a = 0;
-					ck_b = 0;
-					break;
-			}
-		}// End for...
-	}
-}
-
-/****************************************************************
- * 
- ****************************************************************/
-
-void AP_GPS_IMU::join_data(void)
-{
-	//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other IMU classes.. 
-	//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
-
-	 //Storing IMU roll
-	roll_sensor = *(int *)&buffer[0];
-
-	 //Storing IMU pitch
-	pitch_sensor = *(int *)&buffer[2];
-
-	 //Storing IMU heading (yaw)
-	ground_course = *(int *)&buffer[4];
-	imu_ok = true;
-}
-
-void AP_GPS_IMU::join_data_xplane()
-{
-	 //Storing IMU roll
-	roll_sensor = *(int *)&buffer[0];
-	
-
-	 //Storing IMU pitch
-	pitch_sensor = *(int *)&buffer[2];
-
-	 //Storing IMU heading (yaw)
-	ground_course = *(int *)&buffer[4];
-	
-	 //Storing airspeed
-	airspeed = *(int *)&buffer[6];
-
-	imu_ok = true;
-
-}
-
-void AP_GPS_IMU::GPS_join_data(void)
-{
-	longitude = *(long *)&buffer[0];	// degrees * 10e7
-	latitude  = *(long *)&buffer[4];
-
-	//Storing GPS Height above the sea level
-	altitude = (long)*(int *)&buffer[8] * 10;
-
-	//Storing Speed
-	speed_3d = ground_speed = (float)*(int *)&buffer[10];
-	
-	//We skip the gps ground course because we use yaw value from the IMU for ground course
-	time = *(long *)&buffer[14];
-
-	imu_health = buffer[15];
-	
-	new_data 	= true;
-	fix 		= true;
-}
-
-
-
-/****************************************************************
- * 
- ****************************************************************/
-// checksum algorithm
-void AP_GPS_IMU::checksum(byte data)
-{
-	ck_a += data;
-	ck_b += ck_a; 
-}
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+/*
+	GPS_MTK.cpp - Ublox GPS library for Arduino
+	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
+	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
+
+	This library is free software; you can redistribute it and/or
+		modify it under the terms of the GNU Lesser General Public
+		License as published by the Free Software Foundation; either
+		version 2.1 of the License, or (at your option) any later version.
+
+	GPS configuration : Costum protocol
+	Baud rate : 38400
+
+	Methods:
+		init() : GPS initialization
+		update() : Call this funcion as often as you want to ensure you read the incomming gps data
+		
+	Properties:
+		lattitude : lattitude * 10000000 (long value)
+		longitude : longitude * 10000000 (long value)
+		altitude :	altitude * 100 (meters) (long value)
+		ground_speed : Speed (m/s) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
+		new_data : 1 when a new data is received.
+							You need to write a 0 to new_data when you read the data
+		fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
+			
+*/
+#include "AP_GPS_IMU.h"
+#include "WProgram.h"
+
+
+// Constructors ////////////////////////////////////////////////////////////////
+AP_GPS_IMU::AP_GPS_IMU(Stream *s) : GPS(s)
+{
+}
+
+
+// Public Methods //////////////////////////////////////////////////////////////
+void AP_GPS_IMU::init(void)
+{
+	// we expect the stream to already be open at the corret bitrate
+}
+
+// optimization : This code doesn't wait for data. It only proccess the data available.
+// We can call this function on the main loop (50Hz loop)
+// If we get a complete packet this function calls parse_IMU_gps() to parse and update the GPS info.
+void AP_GPS_IMU::update(void)
+{
+	byte data;
+	int numc = 0;
+	static byte message_num = 0;
+
+	numc = _port->available();
+
+	if (numc > 0){
+		for (int i=0;i<numc;i++){	// Process bytes received		
+
+			data = _port->read();
+			
+			switch(step){		 //Normally we start from zero. This is a state machine
+				case 0:	
+					if(data == 0x44)	// IMU sync char 1
+						step++;	 //OH first data packet is correct, so jump to the next step
+					break; 
+					
+				case 1:	
+					if(data == 0x49)	// IMU sync char 2
+						step++;	 //ooh! The second data packet is correct, jump to the step 2
+					else 
+						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
+					break;
+	
+				case 2:	
+					if(data == 0x59)	// IMU sync char 3
+						step++;	 //ooh! The second data packet is correct, jump to the step 2
+					else 
+						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
+					break;
+	
+				case 3:	
+					if(data == 0x64)	// IMU sync char 4
+						step++;	 //ooh! The second data packet is correct, jump to the step 2
+					else 
+						step=0;	 //Nop, is not correct so restart to step zero and try again.		 
+					break;
+										
+				case 4:
+					payload_length = data;
+					checksum(payload_length);
+					step++;
+					if (payload_length > 28){
+						step = 0;	 //Bad data, so restart to step zero and try again.		 
+						payload_counter = 0;
+						ck_a = 0;
+						ck_b = 0;
+						//payload_error_count++;
+					} 
+					break;
+					
+				case 5:
+					message_num = data;
+					checksum(data);
+					step++;
+					break;
+	
+				case 6:	// Payload data read...
+					// We stay in this state until we reach the payload_length
+					buffer[payload_counter] = data;
+					checksum(data);
+					payload_counter++;
+					if (payload_counter >= payload_length) { 
+						step++; 
+					}
+					break;
+					
+				case 7:
+					GPS_ck_a = data;	 // First checksum byte
+					step++;
+					break;
+										
+				case 8:
+					GPS_ck_b = data;	 // Second checksum byte
+	
+					// We end the IMU/GPS read...
+					// Verify the received checksum with the generated checksum.. 
+					if((ck_a == GPS_ck_a) && (ck_b == GPS_ck_b)) {
+						if (message_num == 0x02) {
+							join_data();
+						} else if (message_num == 0x03) {
+							GPS_join_data();
+						} else if (message_num == 0x04) {
+							join_data_xplane();
+						} else if (message_num == 0x0a) {
+							//PERF_join_data();
+						} else {
+							_error("Invalid message number = %d\n", (int)message_num);
+						}
+					} else {
+						_error("XXX Checksum error\n");	//bad checksum
+						//imu_checksum_error_count++;
+					} 						 
+					// Variable initialization
+					step = 0;
+					payload_counter = 0;
+					ck_a = 0;
+					ck_b = 0;
+					break;
+			}
+		}// End for...
+	}
+}
+
+/****************************************************************
+ * 
+ ****************************************************************/
+
+void AP_GPS_IMU::join_data(void)
+{
+	//Verifing if we are in class 1, you can change this "IF" for a "Switch" in case you want to use other IMU classes.. 
+	//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
+
+	 //Storing IMU roll
+	roll_sensor = *(int *)&buffer[0];
+
+	 //Storing IMU pitch
+	pitch_sensor = *(int *)&buffer[2];
+
+	 //Storing IMU heading (yaw)
+	ground_course = *(int *)&buffer[4];
+	imu_ok = true;
+}
+
+void AP_GPS_IMU::join_data_xplane()
+{
+	 //Storing IMU roll
+	roll_sensor = *(int *)&buffer[0];
+	
+
+	 //Storing IMU pitch
+	pitch_sensor = *(int *)&buffer[2];
+
+	 //Storing IMU heading (yaw)
+	ground_course = *(int *)&buffer[4];
+	
+	 //Storing airspeed
+	airspeed = *(int *)&buffer[6];
+
+	imu_ok = true;
+
+}
+
+void AP_GPS_IMU::GPS_join_data(void)
+{
+	longitude = *(long *)&buffer[0];	// degrees * 10e7
+	latitude  = *(long *)&buffer[4];
+
+	//Storing GPS Height above the sea level
+	altitude = (long)*(int *)&buffer[8] * 10;
+
+	//Storing Speed
+	speed_3d = ground_speed = (float)*(int *)&buffer[10];
+	
+	//We skip the gps ground course because we use yaw value from the IMU for ground course
+	time = *(long *)&buffer[14];
+
+	imu_health = buffer[15];
+	
+	new_data 	= true;
+	fix 		= true;
+}
+
+
+
+/****************************************************************
+ * 
+ ****************************************************************/
+// checksum algorithm
+void AP_GPS_IMU::checksum(byte data)
+{
+	ck_a += data;
+	ck_b += ck_a; 
+}
diff --git a/libraries/AP_GPS/AP_GPS_IMU.h b/libraries/AP_GPS/AP_GPS_IMU.h
index 72c883c536..0e3f1d294f 100755
--- a/libraries/AP_GPS/AP_GPS_IMU.h
+++ b/libraries/AP_GPS/AP_GPS_IMU.h
@@ -1,44 +1,44 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_GPS_IMU_h
-#define AP_GPS_IMU_h
-
-#include <GPS.h>
-#define MAXPAYLOAD 32
-
-class AP_GPS_IMU : public GPS
-{
-  public:
-
-    // Methods
-	AP_GPS_IMU(Stream *s);
-	void init();
-	void update();
-	
-	// Properties
-	long 	roll_sensor;		// how much we're turning in deg * 100
-	long 	pitch_sensor;		// our angle of attack in deg * 100
-	int 	airspeed;
-	float 	imu_health;
-	uint8_t imu_ok;
-
-  private:
-	// Packet checksums
-	uint8_t ck_a;     
-	uint8_t ck_b;
-	uint8_t GPS_ck_a;
-	uint8_t GPS_ck_b;
-	
-	uint8_t step;
-	uint8_t msg_class;
-	uint8_t message_num;
-	uint8_t payload_length;
-	uint8_t payload_counter;
-	uint8_t buffer[MAXPAYLOAD];
-	
-	void join_data();
-	void join_data_xplane();
-	void GPS_join_data();
-	void checksum(unsigned char data);
-};
-
-#endif
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+#ifndef AP_GPS_IMU_h
+#define AP_GPS_IMU_h
+
+#include <GPS.h>
+#define MAXPAYLOAD 32
+
+class AP_GPS_IMU : public GPS
+{
+  public:
+
+    // Methods
+	AP_GPS_IMU(Stream *s);
+	void init();
+	void update();
+	
+	// Properties
+	long 	roll_sensor;		// how much we're turning in deg * 100
+	long 	pitch_sensor;		// our angle of attack in deg * 100
+	int 	airspeed;
+	float 	imu_health;
+	uint8_t imu_ok;
+
+  private:
+	// Packet checksums
+	uint8_t ck_a;     
+	uint8_t ck_b;
+	uint8_t GPS_ck_a;
+	uint8_t GPS_ck_b;
+	
+	uint8_t step;
+	uint8_t msg_class;
+	uint8_t message_num;
+	uint8_t payload_length;
+	uint8_t payload_counter;
+	uint8_t buffer[MAXPAYLOAD];
+	
+	void join_data();
+	void join_data_xplane();
+	void GPS_join_data();
+	void checksum(unsigned char data);
+};
+
+#endif
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index bf06be334d..f3ddb12b27 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -1,236 +1,236 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-/*
-	GPS_NMEA.cpp - Generic NMEA GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
-
-	This library is free software; you can redistribute it and / or
-		modify it under the terms of the GNU Lesser General Public
-		License as published by the Free Software Foundation; either
-		version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : NMEA protocol
-	Baud rate : 38400
-	NMEA Sentences : 
-		$GPGGA : Global Positioning System fix Data
-		$GPVTG : Ttack and Ground Speed
-		
-	Methods:
-		init() : GPS Initialization
-		update() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		latitude : latitude * 10000000 (long value)
-		longitude : longitude * 10000000 (long value)
-		altitude :	altitude * 1000 (milimeters) (long value)
-		ground_speed : Speed (m / s) * 100 (long value)
-		ground_course : Course (degrees) * 100 (long value)
-		Type : 2 (This indicate that we are using the Generic NMEA library)
-		new_data : 1 when a new data is received.
-							You need to write a 0 to new_data when you read the data
-		fix : > = 1: GPS FIX, 0: No fix (normal logic)
-		quality : 0 = No fix
-							 1 = Bad (Num sats < 5)
-					 2 = Poor
-					 3 = Medium
-					 4 = Good
-
-	 NOTE : This code has been tested on a Locosys 20031 GPS receiver (MTK chipset)
-*/
-#include "AP_GPS_NMEA.h"
-#include "WProgram.h"
-
-// Constructors ////////////////////////////////////////////////////////////////
-AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) : GPS(s)
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void 
-AP_GPS_NMEA::init(void)
-{
-	//Type = 2;
-}
-
-// This code donīt wait for data, only proccess the data available on serial port
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function call parse_nmea_gps() to parse and update the GPS info.
-void
-AP_GPS_NMEA::update(void)
-{
-	char c;
-	int numc;
-	int i;
-
-	numc = _port->available();
-	
-	if (numc > 0){
-		for (i = 0; i < numc; i++){
-			c = _port->read();
-			if (c == '$'){											// NMEA Start
-				bufferidx = 0;
-				buffer[bufferidx++] = c;
-				GPS_checksum = 0;
-				GPS_checksum_calc = true;
-				continue;
-				}
-			if (c == '\r'){										 // NMEA End
-				buffer[bufferidx++] = 0;
-				parse_nmea_gps();
-			} else {
-				if (bufferidx < (GPS_BUFFERSIZE - 1)){
-					if (c == ' * ')
-						GPS_checksum_calc = false;		// Checksum calculation end
-					buffer[bufferidx++] = c;
-					if (GPS_checksum_calc){
-						GPS_checksum ^= c;						// XOR 
-					}
-				} else {
-					bufferidx = 0;	 // Buffer overflow : restart
-				}
-			}
-		}
-	}
-}
-
-/****************************************************************
- * 
- * * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * **/
-// Private Methods //////////////////////////////////////////////////////////////
-void
-AP_GPS_NMEA::parse_nmea_gps(void)
-{
-	uint8_t NMEA_check;
-	long aux_deg;
-	long aux_min;
-	char *parseptr;
-
-	
-	if (strncmp(buffer,"$GPGGA",6)==0){					// Check if sentence begins with $GPGGA
-		if (buffer[bufferidx-4]=='*'){					 // Check for the "*" character
-			NMEA_check = parseHex(buffer[bufferidx - 3]) * 16 + parseHex(buffer[bufferidx - 2]);		// Read the checksums characters
-			if (GPS_checksum == NMEA_check){			// Checksum validation
-				//Serial.println("buffer");
-				new_data = 1;	// New GPS Data
-				parseptr = strchr(buffer, ', ')+1;
-				//parseptr = strchr(parseptr, ',')+1;
-				time = parsenumber(parseptr, 2);					// GPS UTC time hhmmss.ss
-				parseptr = strchr(parseptr, ', ')+1;
-				//
-				aux_deg = parsedecimal(parseptr, 2);			// degrees
-				aux_min = parsenumber(parseptr + 2, 4);		 // minutes (sexagesimal) => Convert to decimal
-				latitude = aux_deg * 10000000 + (aux_min * 50) / 3;	 // degrees + minutes / 0.6	( * 10000000) (0.6 = 3 / 5)
-				parseptr = strchr(parseptr, ', ')+1;
-				if ( * parseptr == 'S')
-					latitude = -1 * latitude;							// South latitudes are negative
-				parseptr = strchr(parseptr, ', ')+1;
-				// W longitudes are Negative
-				aux_deg = parsedecimal(parseptr, 3);			// degrees
-				aux_min = parsenumber(parseptr + 3, 4);		 // minutes (sexagesimal)
-				longitude = aux_deg * 10000000 + (aux_min * 50) / 3;	// degrees + minutes / 0.6 ( * 10000000)
-				//longitude = -1*longitude;									 // This Assumes that we are in W longitudes...
-				parseptr = strchr(parseptr, ', ')+1;
-				if ( * parseptr == 'W')
-					longitude = -1 * longitude;							// West longitudes are negative
-				parseptr = strchr(parseptr, ', ')+1;
-				fix = parsedecimal(parseptr, 1);
-				parseptr = strchr(parseptr, ', ')+1;
-				num_sats = parsedecimal(parseptr, 2);
-				parseptr = strchr(parseptr, ', ')+1; 
-				HDOP = parsenumber(parseptr, 1);					// HDOP * 10
-				parseptr = strchr(parseptr, ', ')+1;
-				altitude = parsenumber(parseptr, 1) * 100;	// altitude in decimeters * 100 = milimeters
-				if (fix < 1)
-					quality = 0;			// No FIX
-				else if(num_sats < 5)
-					quality = 1;			// Bad (Num sats < 5)
-				else if(HDOP > 30)
-					quality = 2;			// Poor (HDOP > 30)
-				else if(HDOP > 25)
-					quality = 3;			// Medium (HDOP > 25)
-				else
-					quality = 4;			// Good (HDOP < 25)
-			} else {
-				_error("GPSERR: Checksum error!!\n");
-			}
-		}
-	} else if (strncmp(buffer,"$GPVTG",6)==0){				// Check if sentence begins with $GPVTG
-		//Serial.println(buffer);
-		if (buffer[bufferidx-4]=='*'){					 // Check for the "*" character
-			NMEA_check = parseHex(buffer[bufferidx - 3]) * 16 + parseHex(buffer[bufferidx - 2]);		// Read the checksums characters
-			if (GPS_checksum == NMEA_check){			// Checksum validation
-				parseptr = strchr(buffer, ', ')+1;
-				ground_course = parsenumber(parseptr, 2);			// Ground course in degrees * 100
-				parseptr = strchr(parseptr, ', ')+1;
-				parseptr = strchr(parseptr, ', ')+1;
-				parseptr = strchr(parseptr, ', ')+1;
-				parseptr = strchr(parseptr, ', ')+1;
-				parseptr = strchr(parseptr, ', ')+1;
-				parseptr = strchr(parseptr, ', ')+1;
-				ground_speed = parsenumber(parseptr, 2) * 10 / 36; // Convert Km / h to m / s ( * 100)
-				//GPS_line = true;
-			} else {
-				_error("GPSERR: Checksum error!!\n");
-			}
-		}
-	} else {
-		bufferidx = 0;
-		_error("GPSERR: Bad sentence!!\n");
-	}
-}
-
-
- // Parse hexadecimal numbers
-uint8_t
-AP_GPS_NMEA::parseHex(char c) {
-		if (c < '0')
-			return (0);
-		if (c <= '9')
-			return (c - '0');
-		if (c < 'A')
-			 return (0);
-		if (c <= 'F')
-			 return ((c - 'A')+10);
-}
-
-// Decimal number parser
-long
-AP_GPS_NMEA::parsedecimal(char *str, uint8_t num_car) {
-	long d = 0;
-	uint8_t i;
-	
-	i = num_car;
-	while ((str[0] != 0) && (i > 0)) {
-		if ((str[0] > '9') || (str[0] < '0'))
-			return d;
-		d *= 10;
-		d += str[0] - '0';
-		str++;
-		i--;
-	}
-	return d;
-}
-
-// Function to parse fixed point numbers (numdec=number of decimals)
-long
-AP_GPS_NMEA::parsenumber(char *str, uint8_t numdec) {
-	long d = 0;
-	uint8_t ndec = 0;
-	
-	while (str[0] != 0) {
-		 if (str[0] == '.'){
-			 ndec = 1;
-		} else {
-			if ((str[0] > '9') || (str[0] < '0'))
-				return d;
-			d *= 10;
-			d += str[0] - '0';
-			if (ndec > 0)
-				ndec++;
-			if (ndec > numdec)	 // we reach the number of decimals...
-				return d;
-		}
-		str++;
-	}
-	return d;
-}
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+/*
+	GPS_NMEA.cpp - Generic NMEA GPS library for Arduino
+	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
+	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
+
+	This library is free software; you can redistribute it and / or
+		modify it under the terms of the GNU Lesser General Public
+		License as published by the Free Software Foundation; either
+		version 2.1 of the License, or (at your option) any later version.
+
+	GPS configuration : NMEA protocol
+	Baud rate : 38400
+	NMEA Sentences : 
+		$GPGGA : Global Positioning System fix Data
+		$GPVTG : Ttack and Ground Speed
+		
+	Methods:
+		init() : GPS Initialization
+		update() : Call this funcion as often as you want to ensure you read the incomming gps data
+		
+	Properties:
+		latitude : latitude * 10000000 (long value)
+		longitude : longitude * 10000000 (long value)
+		altitude :	altitude * 1000 (milimeters) (long value)
+		ground_speed : Speed (m / s) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
+		Type : 2 (This indicate that we are using the Generic NMEA library)
+		new_data : 1 when a new data is received.
+							You need to write a 0 to new_data when you read the data
+		fix : > = 1: GPS FIX, 0: No fix (normal logic)
+		quality : 0 = No fix
+							 1 = Bad (Num sats < 5)
+					 2 = Poor
+					 3 = Medium
+					 4 = Good
+
+	 NOTE : This code has been tested on a Locosys 20031 GPS receiver (MTK chipset)
+*/
+#include "AP_GPS_NMEA.h"
+#include "WProgram.h"
+
+// Constructors ////////////////////////////////////////////////////////////////
+AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) : GPS(s)
+{
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+void 
+AP_GPS_NMEA::init(void)
+{
+	//Type = 2;
+}
+
+// This code donīt wait for data, only proccess the data available on serial port
+// We can call this function on the main loop (50Hz loop)
+// If we get a complete packet this function call parse_nmea_gps() to parse and update the GPS info.
+void
+AP_GPS_NMEA::update(void)
+{
+	char c;
+	int numc;
+	int i;
+
+	numc = _port->available();
+	
+	if (numc > 0){
+		for (i = 0; i < numc; i++){
+			c = _port->read();
+			if (c == '$'){											// NMEA Start
+				bufferidx = 0;
+				buffer[bufferidx++] = c;
+				GPS_checksum = 0;
+				GPS_checksum_calc = true;
+				continue;
+				}
+			if (c == '\r'){										 // NMEA End
+				buffer[bufferidx++] = 0;
+				parse_nmea_gps();
+			} else {
+				if (bufferidx < (GPS_BUFFERSIZE - 1)){
+					if (c == ' * ')
+						GPS_checksum_calc = false;		// Checksum calculation end
+					buffer[bufferidx++] = c;
+					if (GPS_checksum_calc){
+						GPS_checksum ^= c;						// XOR 
+					}
+				} else {
+					bufferidx = 0;	 // Buffer overflow : restart
+				}
+			}
+		}
+	}
+}
+
+/****************************************************************
+ * 
+ * * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * ** * **/
+// Private Methods //////////////////////////////////////////////////////////////
+void
+AP_GPS_NMEA::parse_nmea_gps(void)
+{
+	uint8_t NMEA_check;
+	long aux_deg;
+	long aux_min;
+	char *parseptr;
+
+	
+	if (strncmp(buffer,"$GPGGA",6)==0){					// Check if sentence begins with $GPGGA
+		if (buffer[bufferidx-4]=='*'){					 // Check for the "*" character
+			NMEA_check = parseHex(buffer[bufferidx - 3]) * 16 + parseHex(buffer[bufferidx - 2]);		// Read the checksums characters
+			if (GPS_checksum == NMEA_check){			// Checksum validation
+				//Serial.println("buffer");
+				new_data = 1;	// New GPS Data
+				parseptr = strchr(buffer, ', ')+1;
+				//parseptr = strchr(parseptr, ',')+1;
+				time = parsenumber(parseptr, 2);					// GPS UTC time hhmmss.ss
+				parseptr = strchr(parseptr, ', ')+1;
+				//
+				aux_deg = parsedecimal(parseptr, 2);			// degrees
+				aux_min = parsenumber(parseptr + 2, 4);		 // minutes (sexagesimal) => Convert to decimal
+				latitude = aux_deg * 10000000 + (aux_min * 50) / 3;	 // degrees + minutes / 0.6	( * 10000000) (0.6 = 3 / 5)
+				parseptr = strchr(parseptr, ', ')+1;
+				if ( * parseptr == 'S')
+					latitude = -1 * latitude;							// South latitudes are negative
+				parseptr = strchr(parseptr, ', ')+1;
+				// W longitudes are Negative
+				aux_deg = parsedecimal(parseptr, 3);			// degrees
+				aux_min = parsenumber(parseptr + 3, 4);		 // minutes (sexagesimal)
+				longitude = aux_deg * 10000000 + (aux_min * 50) / 3;	// degrees + minutes / 0.6 ( * 10000000)
+				//longitude = -1*longitude;									 // This Assumes that we are in W longitudes...
+				parseptr = strchr(parseptr, ', ')+1;
+				if ( * parseptr == 'W')
+					longitude = -1 * longitude;							// West longitudes are negative
+				parseptr = strchr(parseptr, ', ')+1;
+				fix = parsedecimal(parseptr, 1);
+				parseptr = strchr(parseptr, ', ')+1;
+				num_sats = parsedecimal(parseptr, 2);
+				parseptr = strchr(parseptr, ', ')+1; 
+				HDOP = parsenumber(parseptr, 1);					// HDOP * 10
+				parseptr = strchr(parseptr, ', ')+1;
+				altitude = parsenumber(parseptr, 1) * 100;	// altitude in decimeters * 100 = milimeters
+				if (fix < 1)
+					quality = 0;			// No FIX
+				else if(num_sats < 5)
+					quality = 1;			// Bad (Num sats < 5)
+				else if(HDOP > 30)
+					quality = 2;			// Poor (HDOP > 30)
+				else if(HDOP > 25)
+					quality = 3;			// Medium (HDOP > 25)
+				else
+					quality = 4;			// Good (HDOP < 25)
+			} else {
+				_error("GPSERR: Checksum error!!\n");
+			}
+		}
+	} else if (strncmp(buffer,"$GPVTG",6)==0){				// Check if sentence begins with $GPVTG
+		//Serial.println(buffer);
+		if (buffer[bufferidx-4]=='*'){					 // Check for the "*" character
+			NMEA_check = parseHex(buffer[bufferidx - 3]) * 16 + parseHex(buffer[bufferidx - 2]);		// Read the checksums characters
+			if (GPS_checksum == NMEA_check){			// Checksum validation
+				parseptr = strchr(buffer, ', ')+1;
+				ground_course = parsenumber(parseptr, 2);			// Ground course in degrees * 100
+				parseptr = strchr(parseptr, ', ')+1;
+				parseptr = strchr(parseptr, ', ')+1;
+				parseptr = strchr(parseptr, ', ')+1;
+				parseptr = strchr(parseptr, ', ')+1;
+				parseptr = strchr(parseptr, ', ')+1;
+				parseptr = strchr(parseptr, ', ')+1;
+				ground_speed = parsenumber(parseptr, 2) * 10 / 36; // Convert Km / h to m / s ( * 100)
+				//GPS_line = true;
+			} else {
+				_error("GPSERR: Checksum error!!\n");
+			}
+		}
+	} else {
+		bufferidx = 0;
+		_error("GPSERR: Bad sentence!!\n");
+	}
+}
+
+
+ // Parse hexadecimal numbers
+uint8_t
+AP_GPS_NMEA::parseHex(char c) {
+		if (c < '0')
+			return (0);
+		if (c <= '9')
+			return (c - '0');
+		if (c < 'A')
+			 return (0);
+		if (c <= 'F')
+			 return ((c - 'A')+10);
+}
+
+// Decimal number parser
+long
+AP_GPS_NMEA::parsedecimal(char *str, uint8_t num_car) {
+	long d = 0;
+	uint8_t i;
+	
+	i = num_car;
+	while ((str[0] != 0) && (i > 0)) {
+		if ((str[0] > '9') || (str[0] < '0'))
+			return d;
+		d *= 10;
+		d += str[0] - '0';
+		str++;
+		i--;
+	}
+	return d;
+}
+
+// Function to parse fixed point numbers (numdec=number of decimals)
+long
+AP_GPS_NMEA::parsenumber(char *str, uint8_t numdec) {
+	long d = 0;
+	uint8_t ndec = 0;
+	
+	while (str[0] != 0) {
+		 if (str[0] == '.'){
+			 ndec = 1;
+		} else {
+			if ((str[0] > '9') || (str[0] < '0'))
+				return d;
+			d *= 10;
+			d += str[0] - '0';
+			if (ndec > 0)
+				ndec++;
+			if (ndec > numdec)	 // we reach the number of decimals...
+				return d;
+		}
+		str++;
+	}
+	return d;
+}
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h
index 48c4cd9a6e..573982e695 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.h
+++ b/libraries/AP_GPS/AP_GPS_NMEA.h
@@ -1,34 +1,34 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_GPS_NMEA_h
-#define AP_GPS_NMEA_h
-
-#include <GPS.h>
-#define GPS_BUFFERSIZE 120 
-
-class AP_GPS_NMEA : public GPS
-{
-  public:
-    // Methods
-	AP_GPS_NMEA(Stream *s);
-	void init();
-	void update();
-
-	// Properties
-	uint8_t quality;    // GPS Signal quality
-	int HDOP;            // HDOP
-
-  private:
-    // Internal variables
-    uint8_t GPS_checksum;
-    uint8_t GPS_checksum_calc;
-	char buffer[GPS_BUFFERSIZE];
-	int bufferidx;
-
-	void parse_nmea_gps(void);
-	uint8_t parseHex(char c);
-	long parsedecimal(char *str,uint8_t num_car);
-	long parsenumber(char *str,uint8_t numdec);
-
-};
-
-#endif
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+#ifndef AP_GPS_NMEA_h
+#define AP_GPS_NMEA_h
+
+#include <GPS.h>
+#define GPS_BUFFERSIZE 120 
+
+class AP_GPS_NMEA : public GPS
+{
+  public:
+    // Methods
+	AP_GPS_NMEA(Stream *s);
+	void init();
+	void update();
+
+	// Properties
+	uint8_t quality;    // GPS Signal quality
+	int HDOP;            // HDOP
+
+  private:
+    // Internal variables
+    uint8_t GPS_checksum;
+    uint8_t GPS_checksum_calc;
+	char buffer[GPS_BUFFERSIZE];
+	int bufferidx;
+
+	void parse_nmea_gps(void);
+	uint8_t parseHex(char c);
+	long parsedecimal(char *str,uint8_t num_car);
+	long parsenumber(char *str,uint8_t numdec);
+
+};
+
+#endif
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 20ed5c63b9..15de6f791a 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1,186 +1,186 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-/*
-	GPS_UBLOX.cpp - Ublox GPS library for Arduino
-	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
-	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
-
-	This library is free software; you can redistribute it and / or
-	modify it under the terms of the GNU Lesser General Public
-	License as published by the Free Software Foundation; either
-	version 2.1 of the License, or (at your option) any later version.
-
-	GPS configuration : Ublox protocol
-	Baud rate : 38400
-	Active messages : 
-		NAV - POSLLH Geodetic Position Solution, PAGE 66 of datasheet
-		NAV - VELNED Velocity Solution in NED, PAGE 71 of datasheet
-		NAV - STATUS Receiver Navigation Status
-			or 
-		NAV - SOL Navigation Solution Information
-
-	Methods:
-		init() : GPS initialization
-		update() : Call this funcion as often as you want to ensure you read the incomming gps data
-		
-	Properties:
-		Lattitude : Lattitude * 10000000 (long value)
-		Longitude : Longitude * 10000000 (long value)
-		altitude :	altitude * 100 (meters) (long value)
-		ground_speed : Speed (m/s) * 100 (long value)
-		ground_course : Course (degrees) * 100 (long value)
-		new_data : 1 when a new data is received.
-							You need to write a 0 to new_data when you read the data
-		fix : 1: GPS FIX, 0: No fix (normal logic)
-			
-*/
-
-#include "AP_GPS_UBLOX.h"
-#include "WProgram.h"
-
-// Constructors ////////////////////////////////////////////////////////////////
-AP_GPS_UBLOX::AP_GPS_UBLOX(Stream *s) : GPS(s)
-{
-}
-
-
-// Public Methods ////////////////////////////////////////////////////////////////////
-void AP_GPS_UBLOX::init(void)
-{
-}
-
-// optimization : This code doesn't wait for data, only proccess the data available
-// We can call this function on the main loop (50Hz loop)
-// If we get a complete packet this function calls parse_gps() to parse and update the GPS info.
-void AP_GPS_UBLOX::update(void)
-{
-	byte data;
-	int numc;
-
-	numc = _port->available();
-
-	if (numc > 0){
-		for (int i = 0;i < numc;i++){	// Process bytes received
-			data = _port->read();
-		
-		switch(step){
-			case 0:
-				if(data == 0xB5)
-					step++;
-				break;
-				
-			case 1:	
-				if(data == 0x62)
-					step++;
-				else 
-					step = 0;
-				break;
-				
-			case 2:
-				msg_class = data;
-				checksum(msg_class);
-				step++;
-				break;
-				
-			case 3:
-				id = data;
-				checksum(id);
-				step++;
-				break;
-				
-			case 4:
-				payload_length_hi = data;
-				checksum(payload_length_hi);
-				step++;
-				// We check if the payload lenght is valid...
-				if (payload_length_hi >= MAXPAYLOAD){
-					_error("ERR:GPS_BAD_PAYLOAD_LENGTH!!\n");
-					step = 0;	 // Bad data, so restart to step zero and try again.		 
-					ck_a = 0;
-					ck_b = 0;
-				}
-				break;
-				
-			case 5:
-				payload_length_lo = data;
-				checksum(payload_length_lo);
-				step++;
-				payload_counter = 0;
-				break;
-				
-			case 6:				 // Payload data read...
-				if (payload_counter < payload_length_hi){	// We stay in this state until we reach the payload_length
-					buffer[payload_counter] = data;
-					checksum(data);
-					payload_counter++;
-					if (payload_counter == payload_length_hi)
-						step++;
-				}
-				break;
-			case 7:
-				GPS_ck_a = data;	 // First checksum byte
-				step++;
-				break;
-				
-			case 8:
-				GPS_ck_b = data;	 // Second checksum byte	 
-				// We end the GPS read...
-				if((ck_a == GPS_ck_a) && (ck_b == GPS_ck_b)){	 // Verify the received checksum with the generated checksum.. 
-					parse_gps();							 // Parse the new GPS packet
-				}else{
-					_error("ERR:GPS_CHK!!\n");
-				}
-				// Variable initialization
-				step = 0;
-				ck_a = 0;
-				ck_b = 0;
-				break;
-			}
-		}		// End for...
-	}
-}
-
-// Private Methods //////////////////////////////////////////////////////////////
-void
-AP_GPS_UBLOX::parse_gps(void)
-{
-//Verifing if we are in msg_class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
-// In this case all the message im using are in msg_class 1, to know more about classes check PAGE 60 of DataSheet.
-	if(msg_class == 0x01){
-		switch(id) {//Checking the UBX ID
-		case 0x02: // ID NAV - POSLLH 
-			time = *(long *)&buffer[0];				// ms Time of week
-			longitude = *(long *)&buffer[4];		// lon * 10,000,000
-			latitude = *(long *)&buffer[8];			// lat * 10,000,000
-			//altitude = *(long *)&buffer[12];		// elipsoid heigth mm
-			altitude = *(long *)&buffer[16] / 10;	// MSL heigth mm
-			/*
-			hacc = (float)*(long *)&buffer[20];
-			vacc = (float)*(long *)&buffer[24];
-			*/
-			new_data = true;
-			break;
-
-		case 0x03: //ID NAV - STATUS 
-			fix = ((buffer[4] >= 0x03) && (buffer[5] & 0x01));
-			break;
-
-		case 0x06: //ID NAV - SOL
-			fix = ((buffer[10] >= 0x03) && (buffer[11] & 0x01));
-			num_sats = buffer[47];										// Number of sats...		 
-			break;
-
-		case 0x12: // ID NAV - VELNED 
-			speed_3d = *(long *)&buffer[16];			// cm / s
-			ground_speed = *(long *)&buffer[20];		// Ground speed 2D cm / s
-			ground_course = *(long *)&buffer[24] / 1000; // Heading 2D deg * 100000 rescaled to deg * 100
-			break; 
-		}
-	}	 
-}
-
-// Ublox checksum algorithm
-void AP_GPS_UBLOX::checksum(byte data)
-{
-	ck_a += data;
-	ck_b += ck_a; 
-}
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+/*
+	GPS_UBLOX.cpp - Ublox GPS library for Arduino
+	Code by Jordi Muņoz and Jose Julio. DIYDrones.com
+	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
+
+	This library is free software; you can redistribute it and / or
+	modify it under the terms of the GNU Lesser General Public
+	License as published by the Free Software Foundation; either
+	version 2.1 of the License, or (at your option) any later version.
+
+	GPS configuration : Ublox protocol
+	Baud rate : 38400
+	Active messages : 
+		NAV - POSLLH Geodetic Position Solution, PAGE 66 of datasheet
+		NAV - VELNED Velocity Solution in NED, PAGE 71 of datasheet
+		NAV - STATUS Receiver Navigation Status
+			or 
+		NAV - SOL Navigation Solution Information
+
+	Methods:
+		init() : GPS initialization
+		update() : Call this funcion as often as you want to ensure you read the incomming gps data
+		
+	Properties:
+		Lattitude : Lattitude * 10000000 (long value)
+		Longitude : Longitude * 10000000 (long value)
+		altitude :	altitude * 100 (meters) (long value)
+		ground_speed : Speed (m/s) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
+		new_data : 1 when a new data is received.
+							You need to write a 0 to new_data when you read the data
+		fix : 1: GPS FIX, 0: No fix (normal logic)
+			
+*/
+
+#include "AP_GPS_UBLOX.h"
+#include "WProgram.h"
+
+// Constructors ////////////////////////////////////////////////////////////////
+AP_GPS_UBLOX::AP_GPS_UBLOX(Stream *s) : GPS(s)
+{
+}
+
+
+// Public Methods ////////////////////////////////////////////////////////////////////
+void AP_GPS_UBLOX::init(void)
+{
+}
+
+// optimization : This code doesn't wait for data, only proccess the data available
+// We can call this function on the main loop (50Hz loop)
+// If we get a complete packet this function calls parse_gps() to parse and update the GPS info.
+void AP_GPS_UBLOX::update(void)
+{
+	byte data;
+	int numc;
+
+	numc = _port->available();
+
+	if (numc > 0){
+		for (int i = 0;i < numc;i++){	// Process bytes received
+			data = _port->read();
+		
+		switch(step){
+			case 0:
+				if(data == 0xB5)
+					step++;
+				break;
+				
+			case 1:	
+				if(data == 0x62)
+					step++;
+				else 
+					step = 0;
+				break;
+				
+			case 2:
+				msg_class = data;
+				checksum(msg_class);
+				step++;
+				break;
+				
+			case 3:
+				id = data;
+				checksum(id);
+				step++;
+				break;
+				
+			case 4:
+				payload_length_hi = data;
+				checksum(payload_length_hi);
+				step++;
+				// We check if the payload lenght is valid...
+				if (payload_length_hi >= MAXPAYLOAD){
+					_error("ERR:GPS_BAD_PAYLOAD_LENGTH!!\n");
+					step = 0;	 // Bad data, so restart to step zero and try again.		 
+					ck_a = 0;
+					ck_b = 0;
+				}
+				break;
+				
+			case 5:
+				payload_length_lo = data;
+				checksum(payload_length_lo);
+				step++;
+				payload_counter = 0;
+				break;
+				
+			case 6:				 // Payload data read...
+				if (payload_counter < payload_length_hi){	// We stay in this state until we reach the payload_length
+					buffer[payload_counter] = data;
+					checksum(data);
+					payload_counter++;
+					if (payload_counter == payload_length_hi)
+						step++;
+				}
+				break;
+			case 7:
+				GPS_ck_a = data;	 // First checksum byte
+				step++;
+				break;
+				
+			case 8:
+				GPS_ck_b = data;	 // Second checksum byte	 
+				// We end the GPS read...
+				if((ck_a == GPS_ck_a) && (ck_b == GPS_ck_b)){	 // Verify the received checksum with the generated checksum.. 
+					parse_gps();							 // Parse the new GPS packet
+				}else{
+					_error("ERR:GPS_CHK!!\n");
+				}
+				// Variable initialization
+				step = 0;
+				ck_a = 0;
+				ck_b = 0;
+				break;
+			}
+		}		// End for...
+	}
+}
+
+// Private Methods //////////////////////////////////////////////////////////////
+void
+AP_GPS_UBLOX::parse_gps(void)
+{
+//Verifing if we are in msg_class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
+// In this case all the message im using are in msg_class 1, to know more about classes check PAGE 60 of DataSheet.
+	if(msg_class == 0x01){
+		switch(id) {//Checking the UBX ID
+		case 0x02: // ID NAV - POSLLH 
+			time = *(long *)&buffer[0];				// ms Time of week
+			longitude = *(long *)&buffer[4];		// lon * 10,000,000
+			latitude = *(long *)&buffer[8];			// lat * 10,000,000
+			//altitude = *(long *)&buffer[12];		// elipsoid heigth mm
+			altitude = *(long *)&buffer[16] / 10;	// MSL heigth mm
+			/*
+			hacc = (float)*(long *)&buffer[20];
+			vacc = (float)*(long *)&buffer[24];
+			*/
+			new_data = true;
+			break;
+
+		case 0x03: //ID NAV - STATUS 
+			fix = ((buffer[4] >= 0x03) && (buffer[5] & 0x01));
+			break;
+
+		case 0x06: //ID NAV - SOL
+			fix = ((buffer[10] >= 0x03) && (buffer[11] & 0x01));
+			num_sats = buffer[47];										// Number of sats...		 
+			break;
+
+		case 0x12: // ID NAV - VELNED 
+			speed_3d = *(long *)&buffer[16];			// cm / s
+			ground_speed = *(long *)&buffer[20];		// Ground speed 2D cm / s
+			ground_course = *(long *)&buffer[24] / 1000; // Heading 2D deg * 100000 rescaled to deg * 100
+			break; 
+		}
+	}	 
+}
+
+// Ublox checksum algorithm
+void AP_GPS_UBLOX::checksum(byte data)
+{
+	ck_a += data;
+	ck_b += ck_a; 
+}
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index d9fc2e6dcd..76dc528db6 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -1,36 +1,36 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_GPS_UBLOX_h
-#define AP_GPS_UBLOX_h
-
-#include <GPS.h>
-#define MAXPAYLOAD 60
-
-class AP_GPS_UBLOX : public GPS
-{
-  public:
-    // Methods
-	AP_GPS_UBLOX(Stream *s);
-	void init();
-	void update();
-
-  private:
-    // Internal variables
-	uint8_t ck_a;     // Packet checksum
-	uint8_t ck_b;
-	uint8_t GPS_ck_a;
-	uint8_t GPS_ck_b;
-
-	uint8_t step;
-	uint8_t msg_class;
-	uint8_t id;
-	uint8_t payload_length_hi;
-	uint8_t payload_length_lo;
-	uint8_t payload_counter;
-	uint8_t buffer[MAXPAYLOAD];
-	long ecefVZ;
-	void parse_gps();
-	void checksum(unsigned char data);
-	long join_4_bytes(unsigned char Buffer[]);
-};
-
-#endif
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+#ifndef AP_GPS_UBLOX_h
+#define AP_GPS_UBLOX_h
+
+#include <GPS.h>
+#define MAXPAYLOAD 60
+
+class AP_GPS_UBLOX : public GPS
+{
+  public:
+    // Methods
+	AP_GPS_UBLOX(Stream *s);
+	void init();
+	void update();
+
+  private:
+    // Internal variables
+	uint8_t ck_a;     // Packet checksum
+	uint8_t ck_b;
+	uint8_t GPS_ck_a;
+	uint8_t GPS_ck_b;
+
+	uint8_t step;
+	uint8_t msg_class;
+	uint8_t id;
+	uint8_t payload_length_hi;
+	uint8_t payload_length_lo;
+	uint8_t payload_counter;
+	uint8_t buffer[MAXPAYLOAD];
+	long ecefVZ;
+	void parse_gps();
+	void checksum(unsigned char data);
+	long join_4_bytes(unsigned char Buffer[]);
+};
+
+#endif