libraries: update license header to GPLv3

we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers

libraries/APM_Control/AP_PitchController.cpp

@@ -1,11 +1,21 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 //	Initial Code by Jon Challinger
 //  Modified by Paul Riseborough
-//	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.
 
 #include <AP_Math.h>
 #include <AP_HAL.h>

libraries/APM_Control/AP_RollController.cpp

@@ -1,12 +1,22 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 //	Code by Jon Challinger
 //  Modified by Paul Riseborough
 //
-//	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.
 
 #include <AP_Math.h>
 #include <AP_HAL.h>

libraries/APM_Control/AP_YawController.cpp

@@ -1,14 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 //	Code by Jon Challinger
 //  Modified by Paul Riseborough to implement a three loop autopilot
 //  topology
 //
-//	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.
-
 #include <AP_Math.h>
 #include <AP_HAL.h>
 #include "AP_YawController.h"

libraries/APM_OBC/APM_OBC.cpp

@@ -1,12 +1,23 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
 	APM_OBC.cpp
 
 	Outback Challenge Failsafe module
 
-	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.
 */
 #include <AP_HAL.h>
 #include <APM_OBC.h>

libraries/APM_OBC/APM_OBC.h

@@ -1,14 +1,23 @@
 #ifndef APM_OBC_H
 #define APM_OBC_H
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 /*
   Outback Challenge Failsafe module
 
   Andrew Tridgell and CanberraUAV, August 2012
-
-  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.
 */
 
 #include <AP_Common.h>

libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde

@@ -1,12 +1,23 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
   OBC failsafe board
 
   Jack Pittar and Andrew Tridgell
 
-  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.
 */
 
 #define MODE_PWM_PIN 9 //Command pulse read on input 11

libraries/AP_ADC/AP_ADC.h

@@ -2,16 +2,25 @@
 #define AP_ADC_H
 
 #include <AP_Common.h>
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /*
  *       AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
  *       Code by James Goppert. DIYDrones.com
  *
- *       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.
- *
  *       Methods:
  *               Init() : Initialization of ADC. (interrupts etc)
  *               Ch(ch_num) : Return the ADC channel value

libraries/AP_ADC/AP_ADC_HIL.h

@@ -1,15 +1,24 @@
 #ifndef AP_ADC_HIL_H
 #define AP_ADC_HIL_H
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /*
  *       AP_ADC_HIL.h
  *       Author: James Goppert
  *
- *       License:
- *       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.
  */
 
 #include <inttypes.h>

libraries/AP_AHRS/AP_AHRS.h

@@ -2,13 +2,24 @@
 
 #ifndef __AP_AHRS_H__
 #define __AP_AHRS_H__
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *  AHRS (Attitude Heading Reference System) interface for ArduPilot
  *
- *  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.
  */
 
 #include <AP_Math.h>

libraries/AP_AHRS/AP_AHRS_DCM.h

@@ -1,13 +1,24 @@
 #ifndef __AP_AHRS_DCM_H__
 #define __AP_AHRS_DCM_H__
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *  DCM based AHRS (Attitude Heading Reference System) interface for
  *  ArduPilot
  *
- *  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.
  */
 
 class AP_AHRS_DCM : public AP_AHRS

libraries/AP_AHRS/AP_AHRS_MPU6000.h

@@ -1,13 +1,24 @@
 #ifndef __AP_AHRS_MPU6000_H__
 #define __AP_AHRS_MPU6000_H__
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *  DCM based AHRS (Attitude Heading Reference System) interface for
  *  ArduPilot
  *
- *  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.
  */
 
 // Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz

libraries/AP_Airspeed/AP_Airspeed.cpp

@@ -1,12 +1,22 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 /*
- *   APM_Airspeed.cpp - airspeed (pitot) driver
+   This program is free software: you can redistribute it and/or modify
- *
+   it under the terms of the GNU General Public License as published by
- *   This library is free software; you can redistribute it and/or
+   the Free Software Foundation, either version 3 of the License, or
- *   modify it under the terms of the GNU Lesser General Public License
+   (at your option) any later version.
- *   as published by the Free Software Foundation; either version 2.1
+
- *   of the License, or (at your option) any later version.
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+/*
+ *   APM_Airspeed.cpp - airspeed (pitot) driver
+ */
+
 
 #include <AP_HAL.h>
 #include <AP_Math.h>

libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde

@@ -1,11 +1,22 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *   Airspeed.pde - airspeed example sketch
  *
- *   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.
  */
 
 #include <AP_Common.h>

libraries/AP_Baro/AP_Baro.cpp

@@ -1,11 +1,22 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       APM_Baro.cpp - barometer driver
  *
- *   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.
  */
 
 #include <AP_Math.h>

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -1,13 +1,21 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 /*
  *       APM_BMP085.cpp - Arduino Library for BMP085 absolute pressure sensor
  *       Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com
- *
- *       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.
- *
  *       Sensor is conected to I2C port
  *       Sensor End of Conversion (EOC) pin is PC7 (30)
  *

libraries/AP_Baro/AP_Baro_MS5611.cpp

@@ -1,13 +1,23 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       APM_MS5611.cpp - Arduino Library for MS5611-01BA01 absolute pressure sensor
  *       Code by Jose Julio, Pat Hickey and Jordi Muñoz. DIYDrones.com
  *
- *       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.
- *
  *       Sensor is conected to standard SPI port
  *       Chip Select pin: Analog2 (provisional until Jordi defines the pin)!!
  *

libraries/AP_Common/AP_Common.h

@@ -1,11 +1,18 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 ///
 /// @file       AP_Common.h
 /// @brief		Common definitions and utility routines for the ArduPilot

libraries/AP_Common/AP_Test.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file   AP_Test.h
 /// @brief  A simple unit test framework.
 ///

libraries/AP_Compass/AP_Compass_HIL.cpp

@@ -1,12 +1,23 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
  *       Code by James Goppert. DIYDrones.com
  *
- *       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.
  */
 
 

libraries/AP_Compass/AP_Compass_HMC5843.cpp

@@ -1,13 +1,23 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer
  *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
  *
- *       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.
- *
  *       Sensor is conected to I2C port
  *       Sensor is initialized in Continuos mode (10Hz)
  *

libraries/AP_Compass/AP_Compass_PX4.cpp

@@ -1,11 +1,22 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_Compass_PX4.cpp - Arduino Library for PX4 magnetometer
  *
- *       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.
  */
 
 

libraries/AP_Declination/AP_Declination.cpp

@@ -1,4 +1,19 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *	Adam M Rivera
  *	With direction from: Andrew Tridgell, Jason Short, Justin Beech
@@ -7,11 +22,6 @@
  *	Scott Ferguson
  *	scottfromscott@gmail.com
  *
- *
- * 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.
  */
 
 #include <AP_Common.h>

libraries/AP_GPS/AP_GPS_406.cpp

@@ -1,14 +1,24 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  GPS_406.cpp - 406 GPS library for Arduino
 //  Code by Michael Smith, Jason Short, Jordi Muñoz 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.
-
 #include <AP_HAL.h>
 
 #include "AP_GPS_406.h"

libraries/AP_GPS/AP_GPS_406.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  EM406 GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
 //
-//	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.
-//
 
 #ifndef __AP_GPS_406_H__
 #define __AP_GPS_406_H__

libraries/AP_GPS/AP_GPS_HIL.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  Hardware in the loop gps class.
 //	Code by James Goppert
 //
-//	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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
 //
 

libraries/AP_GPS/AP_GPS_HIL.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  Hardware in the loop gps class.
 //  Code by James Goppert
 //
-//	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.
-//
 //
 #ifndef __AP_GPS_HIL_H__
 #define __AP_GPS_HIL_H__

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
 //
-//	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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
 //
 

libraries/AP_GPS/AP_GPS_MTK.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
 //
-//	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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
 //
 // Note - see AP_GPS_MTK16.h for firmware 1.6 and later.

libraries/AP_GPS/AP_GPS_MTK19.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
 //    Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
 //
-//    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 : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.6, v1.7, v1.8, v1.9"
 //
 //   Note that this driver supports both the 1.6 and 1.9 protocol varients

libraries/AP_GPS/AP_GPS_MTK19.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
 //
-//	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 : Custom protocol per "Customize Function Specification, 3D Robotics, v1.6, v1.7, v1.8, v1.9"
 //
 #ifndef AP_GPS_MTK19_h

libraries/AP_GPS/AP_GPS_MTK_Common.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  DIYDrones Custom Mediatek GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, Craig Elder, DIYDrones.com
 //
-//	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.
-//
 // Common definitions for MediaTek GPS modules.
 
 #ifndef __AP_GPS_MTK_COMMON_H__

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -1,4 +1,18 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 //
 // NMEA parser, adapted by Michael Smith from TinyGPS v9:
@@ -7,16 +21,6 @@
 // Copyright (C) 2008-9 Mikal Hart
 // All rights reserved.
 //
-// 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.
-//
-// This library is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// Lesser General Public License for more details.
-//
 
 /// @file	AP_GPS_NMEA.cpp
 /// @brief	NMEA protocol parser

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -1,4 +1,18 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 //
 // NMEA parser, adapted by Michael Smith from TinyGPS v9:
@@ -7,15 +21,6 @@
 // Copyright (C) 2008-9 Mikal Hart
 // All rights reserved.
 //
-// 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.
-//
-// This library is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// Lesser General Public License for more details.
 //
 
 /// @file	AP_GPS_NMEA.h

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  SiRF Binary GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith.
 //
-//	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.
-//
 
 #include "AP_GPS_SIRF.h"
 #include <stdint.h>

libraries/AP_GPS/AP_GPS_SIRF.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  SiRF Binary GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith.
 //
-//	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.
-//
 #ifndef __AP_GPS_SIRF_H__
 #define __AP_GPS_SIRF_H__
 

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  u-blox UBX GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
 //
-//	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.
-//
 #include <stdint.h>
 
 #include <AP_HAL.h>

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //  u-blox UBX GPS driver for ArduPilot and ArduPilotMega.
 //	Code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
 //
-//	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.
-//
 //  UBlox Lea6H protocol: http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
 #ifndef __AP_GPS_UBLOX_H__
 #define __AP_GPS_UBLOX_H__

libraries/AP_HAL/utility/BetterStream.h

@@ -1,10 +1,21 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //      Copyright (c) 2010 Michael Smith. All rights reserved.
 //
-// This 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.
 //
 
 #ifndef __AP_HAL_UTILITY_BETTERSTREAM_H__

libraries/AP_HAL_AVR/I2CDriver.cpp

@@ -1,3 +1,18 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *  AP_HAL_AVR I2C driver. derived from:
  *  I2C.cpp - I2C library
@@ -16,19 +31,6 @@
  *  function correctly without the use of a Repeated Start.  The
  *  initial version of this library only supports the Master.
  *
- *  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.
- *
- *  This library is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- *  Lesser General Public License for more details.
- *
- *  You should have received a copy of the GNU Lesser General Public
- *  License along with this library; if not, write to the Free Software
- *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  */
 
 #include <AP_HAL.h>

libraries/AP_HAL_AVR/UARTDriver.cpp

@@ -1,12 +1,22 @@
 // -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //      Copyright (c) 2010 Michael Smith. All rights reserved.
 //
-// This 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.
-//
 #include <AP_HAL.h>
 #if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
 

libraries/AP_HAL_AVR_SITL/UARTDriver.cpp

@@ -1,12 +1,22 @@
 // -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
 //      Copyright (c) 2010 Michael Smith. All rights reserved.
 //
-// This 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.
-//
 #include <AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 

libraries/AP_Math/matrix3.h

@@ -1,12 +1,21 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 // Copyright 2010 Michael Smith, all rights reserved.
 
-//	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.
-
 // Inspired by:
 /****************************************
  * 3D Vector Classes

libraries/AP_Math/quaternion.h

@@ -1,12 +1,21 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 // Copyright 2012 Andrew Tridgell, all rights reserved.
 
-//	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.
-
 #ifndef QUATERNION_H
 #define QUATERNION_H
 

libraries/AP_Math/vector2.h

@@ -1,12 +1,21 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 // Copyright 2010 Michael Smith, all rights reserved.
 
-//	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.
-
 // Derived closely from:
 /****************************************
 * 2D Vector Classes

libraries/AP_Math/vector3.h

@@ -1,12 +1,21 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 // Copyright 2010 Michael Smith, all rights reserved.
 
-//	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.
-
 // Derived closely from:
 /****************************************
 * 3D Vector Classes

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsHeli.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 #include <stdlib.h>
 #include <AP_HAL.h>

libraries/AP_Motors/AP_MotorsHexa.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsHexa.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_MotorsHexa.h"
@@ -35,4 +46,4 @@ void AP_MotorsHexa::setup_motors()
         add_motor(AP_MOTORS_MOT_5,  30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
         add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
     }
-}
+}

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsMatrix.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 #include <AP_HAL.h>
 #include "AP_MotorsMatrix.h"

libraries/AP_Motors/AP_MotorsOcta.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsOcta.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_MotorsOcta.h"
@@ -51,4 +62,4 @@ void AP_MotorsOcta::setup_motors()
         add_motor(AP_MOTORS_MOT_7,  -67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
         add_motor(AP_MOTORS_MOT_8,  112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
     }
-}
+}

libraries/AP_Motors/AP_MotorsOctaQuad.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsOctaQuad.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_MotorsOctaQuad.h"

libraries/AP_Motors/AP_MotorsQuad.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsQuad.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_MotorsQuad.h"

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsTri.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 #include <AP_HAL.h>
 #include <AP_Math.h>

libraries/AP_Motors/AP_MotorsY6.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_MotorsY6.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_MotorsY6.h"
@@ -24,4 +35,4 @@ void AP_MotorsY6::setup_motors()
     add_motor_raw(AP_MOTORS_MOT_4,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
     add_motor_raw(AP_MOTORS_MOT_5, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
     add_motor_raw(AP_MOTORS_MOT_6,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
-}
+}

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -1,12 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_Motors.cpp - ArduCopter motors library
  *       Code by RandyMackay. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_Motors_Class.h"

libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

@@ -1,11 +1,22 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
  *       Code by James Goppert. DIYDrones.com
  *
- *       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.
  */
 
 #include "AP_OpticalFlow.h"

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -1,15 +1,24 @@
 #ifndef __AP_OPTICALFLOW_H__
 #define __AP_OPTICALFLOW_H__
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /*
  *       AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
  *       Code by Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  *       Methods:
  *               init() : initializate sensor and library.
  *               read   : reads latest value from OpticalFlow and

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp

@@ -1,13 +1,23 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for
  *       Ardupilot Mega
  *       Code by Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  */
 
 #include <AP_HAL.h>

libraries/AP_Param/AP_Param.cpp

@@ -1,9 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 //
-// This 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.
 //
 
 // total up and check overflow

libraries/AP_Param/AP_Param.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	AP_Param.h
 /// @brief	A system for managing and storing variables that are of
 ///			general interest to the system.

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_RangeFinder_MaxsonarI2CXL.cpp - Arduino Library for MaxBotix I2C XL sonar
  *       Code by Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  *       datasheet: http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf
  *
  *       Sensor should be connected to the I2C port

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp

@@ -1,14 +1,24 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
  *       infrared proximity sensor
  *       Code by Jose Julio and Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  *       Sparkfun URL: http://www.sparkfun.com/products/9491
  *       datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
  *

libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp

@@ -1,14 +1,24 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
  *       infrared proximity sensor
  *       Code by Jose Julio and Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  *       Sensor should be conected to one of the analog ports
  *
  *       Sparkfun URL: http://www.sparkfun.com/products/8958

libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp

@@ -1,12 +1,22 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *   AP_RangeFinder_analog.cpp - rangefinder for analog source
  *
- *   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.
- *
  */
 
 #include <AP_HAL.h>

libraries/AP_RangeFinder/RangeFinder.cpp

@@ -1,14 +1,24 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
  *       infrared proximity sensor
  *       Code by Jose Julio and Randy Mackay. DIYDrones.com
  *
- *       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.
- *
  *       This has the basic functions that all RangeFinders need implemented
  */
 #include "RangeFinder.h"

libraries/AP_Scheduler/AP_Scheduler.cpp

@@ -1,13 +1,23 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /*
  *  main loop scheduler for APM
  *  Author: Andrew Tridgell, January 2013
  *
- *  This firmware 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.
  */
 
 #include <AP_HAL.h>

libraries/AP_Scheduler/AP_Scheduler.h

@@ -1,13 +1,23 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /*
  *  main loop scheduler for APM
  *  Author: Andrew Tridgell, January 2013
  *
- *  This firmware 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.
  */
 
 #ifndef AP_SCHEDULER_H

libraries/DataFlash/DataFlash_APM1.cpp

@@ -1,14 +1,24 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       DataFlash_APM1.cpp - DataFlash log library for AT45DB161
  *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
  *       This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe.
  *
- *       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.
- *
  *       Dataflash library for AT45DB161D flash memory
  *       Memory organization : 4096 pages of 512 bytes or 528 bytes
  *

libraries/DataFlash/DataFlash_APM2.cpp

@@ -1,14 +1,24 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       DataFlash_APM2.cpp - DataFlash log library for AT45DB321D
  *       Code by Jordi Muñoz and Jose Julio. DIYDrones.com
  *       This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe.
  *
- *       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.
- *
  *       Dataflash library for AT45DB321D flash memory
  *       Memory organization : 8192 pages of 512 bytes or 528 bytes
  *

libraries/Filter/AverageFilter.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	AverageFilter.h
 /// @brief	A class to provide the average of a number of samples
 

libraries/Filter/DerivativeFilter.cpp

@@ -1,10 +1,18 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /// @file	Derivative.cpp
 /// @brief	A class to implement a derivative (slope) filter

libraries/Filter/DerivativeFilter.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	Derivative.h
 /// @brief	A class to implement a derivative (slope) filter
 /// See http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/

libraries/Filter/FilterClass.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	FilterClass.h
 /// @brief	A pure virtual interface class
 ///

libraries/Filter/FilterWithBuffer.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	FilterWithBuffer.h
 /// @brief	A filter with a buffer.
 ///         This is implemented separately to the base Filter class to get around

libraries/Filter/LowPassFilter.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	LowPassFilter.h
 /// @brief	A class to implement a low pass filter without losing precision even for int types
 ///         the downside being that it's a little slower as it internally uses a float

libraries/Filter/ModeFilter.h

@@ -1,11 +1,20 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-//
+/*
-// This is free software; you can redistribute it and/or modify it under
+   This program is free software: you can redistribute it and/or modify
-// the terms of the GNU Lesser General Public License as published by the
+   it under the terms of the GNU General Public License as published by
-// Free Software Foundation; either version 2.1 of the License, or (at
+   the Free Software Foundation, either version 3 of the License, or
-// your option) any later version.
+   (at your option) any later version.
-//
 
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
 /// @file	ModeFilter.h
 /// @brief	A class to apply a mode filter which is basically picking the median value from the last x samples
 ///         the filter size (i.e buffer size) should always be an odd number

libraries/GCS_MAVLink/GCS_MAVLink.cpp

@@ -1,14 +1,24 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /// @file	GCS_MAVLink.cpp
 
 /*
 This provides some support code and variables for MAVLink enabled sketches
 
-This firmware 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.
 */
 
 #include <AP_HAL.h>

libraries/RC_Channel/RC_Channel.cpp

@@ -1,13 +1,23 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  *       RC_Channel.cpp - Radio library for Arduino
  *       Code by Jason Short. DIYDrones.com
  *
- *       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.
- *
  */
 
 #include <stdlib.h>

libraries/SITL/SITL.cpp

@@ -1,11 +1,22 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
 	SITL.cpp - software in the loop state
 
-    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.
 */
 
 #include <AP_Common.h>