diff --git a/ArduBoat/CMakeLists.txt b/ArduBoat/CMakeLists.txt
index 4686c63bd9..aa3fe000f0 100644
--- a/ArduBoat/CMakeLists.txt
+++ b/ArduBoat/CMakeLists.txt
@@ -1,30 +1,50 @@
-#=============================================================================#
-# Author: Sebastian Rohde                                                      #
-# Date:   30.08.2011                                                          #
-#=============================================================================#
+cmake_minimum_required(VERSION 2.6)
+set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
+set(CMAKE_MODULE_PATH    ${CMAKE_SOURCE_DIR}/cmake/modules)  # CMake module search path
 
+string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
+project(${PROJECT_NAME} C CXX)
 
-#====================================================================#
-#  Settings                                                          #
-#====================================================================#
-set(FIRMWARE_NAME ArduBoat)
+set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
 
-set(${FIRMWARE_NAME}_BOARD ${BOARD})               # Arduino Target board
+find_package(Arduino 22 REQUIRED)
 
-set(${FIRMWARE_NAME}_SKETCHES
-	ArduBoat.pde	
-	)  # Firmware sketches
+if (NOT DEFINED BOARD)
+	message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
+	set(BOARD "mega")
+endif()
+message(STATUS "Board configured as: ${BOARD}")
+
+# need to configure based on host operating system
+set(${PROJECT_NAME}_PORT COM2)
+set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
 	
-set(${FIRMWARE_NAME}_SRCS 
-	)  # Firmware sources
-		
-set(${FIRMWARE_NAME}_HDRS 
-        BoatGeneric.h
-        #CNIBoat.h
-        ControllerBoat.h
-	)  # Firmware sources
+include_directories(
+${ARDUINO_LIBRARIES_PATH}/Wire
+${CMAKE_SOURCE_DIR}/libraries/APO
+${CMAKE_SOURCE_DIR}/libraries/AP_Common
+${CMAKE_SOURCE_DIR}/libraries/FastSerial
+${CMAKE_SOURCE_DIR}/libraries/ModeFilter
+${CMAKE_SOURCE_DIR}/libraries/AP_Compass
+${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
+${CMAKE_SOURCE_DIR}/libraries/AP_GPS
+${CMAKE_SOURCE_DIR}/libraries/AP_IMU
+${CMAKE_SOURCE_DIR}/libraries/AP_ADC
+${CMAKE_SOURCE_DIR}/libraries/AP_DCM
+${CMAKE_SOURCE_DIR}/libraries/APM_RC
+${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
+${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
+)
 
-set(${FIRMWARE_NAME}_LIBS
+add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
+
+set(${PROJECT_NAME}_BOARD ${BOARD})
+file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
+file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
+file(GLOB ${PROJECT_NAME}_HDRS *.h)
+set(${PROJECT_NAME}_LIBS
+	c
     m
     APO
     FastSerial
@@ -40,33 +60,10 @@ set(${FIRMWARE_NAME}_LIBS
     APM_BMP085
 	ModeFilter
 )
-	
 
-#${CONSOLE_PORT}
-set(${FIRMWARE_NAME}_PORT COM2)            # Serial upload port
-set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )  # Serial terminal cmd
-	
-include_directories(
-${CMAKE_SOURCE_DIR}/libraries/APO
-${CMAKE_SOURCE_DIR}/libraries/AP_Common
-${CMAKE_SOURCE_DIR}/libraries/FastSerial
-${CMAKE_SOURCE_DIR}/libraries/ModeFilter
-${CMAKE_SOURCE_DIR}/libraries/AP_Compass
-${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
-${CMAKE_SOURCE_DIR}/libraries/AP_GPS
-${CMAKE_SOURCE_DIR}/libraries/AP_IMU
-${CMAKE_SOURCE_DIR}/libraries/AP_ADC
-${CMAKE_SOURCE_DIR}/libraries/AP_DCM
-${CMAKE_SOURCE_DIR}/libraries/APM_RC
-${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
-${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
-)
-#====================================================================#
-#  Target generation                                                 #
-#====================================================================#
-generate_arduino_firmware(${FIRMWARE_NAME})
+generate_arduino_firmware(${PROJECT_NAME})
 
 install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/${FIRMWARE_NAME}.hex 
+	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex 
 	DESTINATION bin
 	)
diff --git a/ArduRover/CMakeLists.txt b/ArduRover/CMakeLists.txt
index 7e5ba77a24..aa3fe000f0 100644
--- a/ArduRover/CMakeLists.txt
+++ b/ArduRover/CMakeLists.txt
@@ -1,30 +1,50 @@
-#=============================================================================#
-# Author: Sebastian Rohde                                                      #
-# Date:   30.08.2011                                                          #
-#=============================================================================#
+cmake_minimum_required(VERSION 2.6)
+set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
+set(CMAKE_MODULE_PATH    ${CMAKE_SOURCE_DIR}/cmake/modules)  # CMake module search path
 
+string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
+project(${PROJECT_NAME} C CXX)
 
-#====================================================================#
-#  Settings                                                          #
-#====================================================================#
-set(FIRMWARE_NAME ArduRover)
+set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
 
-set(${FIRMWARE_NAME}_BOARD ${BOARD})               # Arduino Target board
+find_package(Arduino 22 REQUIRED)
 
-set(${FIRMWARE_NAME}_SKETCHES
-	ArduRover.pde	
-	)  # Firmware sketches
+if (NOT DEFINED BOARD)
+	message(STATUS "board not defined, assuming mega, use cmake -DBOARD=mega2560 , etc. to specify")
+	set(BOARD "mega")
+endif()
+message(STATUS "Board configured as: ${BOARD}")
+
+# need to configure based on host operating system
+set(${PROJECT_NAME}_PORT COM2)
+set(${PROJECT_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )
 	
-set(${FIRMWARE_NAME}_SRCS 
-	)  # Firmware sources
-		
-set(${FIRMWARE_NAME}_HDRS 
-        CarStampede.h
-        #CNIRover.h
-        ControllerCar.h
-	)  # Firmware sources
+include_directories(
+${ARDUINO_LIBRARIES_PATH}/Wire
+${CMAKE_SOURCE_DIR}/libraries/APO
+${CMAKE_SOURCE_DIR}/libraries/AP_Common
+${CMAKE_SOURCE_DIR}/libraries/FastSerial
+${CMAKE_SOURCE_DIR}/libraries/ModeFilter
+${CMAKE_SOURCE_DIR}/libraries/AP_Compass
+${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
+${CMAKE_SOURCE_DIR}/libraries/AP_GPS
+${CMAKE_SOURCE_DIR}/libraries/AP_IMU
+${CMAKE_SOURCE_DIR}/libraries/AP_ADC
+${CMAKE_SOURCE_DIR}/libraries/AP_DCM
+${CMAKE_SOURCE_DIR}/libraries/APM_RC
+${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
+${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
+)
 
-set(${FIRMWARE_NAME}_LIBS
+add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
+
+set(${PROJECT_NAME}_BOARD ${BOARD})
+file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
+file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
+file(GLOB ${PROJECT_NAME}_HDRS *.h)
+set(${PROJECT_NAME}_LIBS
+	c
     m
     APO
     FastSerial
@@ -40,33 +60,10 @@ set(${FIRMWARE_NAME}_LIBS
     APM_BMP085
 	ModeFilter
 )
-	
 
-#${CONSOLE_PORT}
-set(${FIRMWARE_NAME}_PORT COM2)            # Serial upload port
-set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X )  # Serial terminal cmd
-	
-include_directories(
-${CMAKE_SOURCE_DIR}/libraries/APO
-${CMAKE_SOURCE_DIR}/libraries/AP_Common
-${CMAKE_SOURCE_DIR}/libraries/FastSerial
-${CMAKE_SOURCE_DIR}/libraries/ModeFilter
-${CMAKE_SOURCE_DIR}/libraries/AP_Compass
-${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
-${CMAKE_SOURCE_DIR}/libraries/AP_GPS
-${CMAKE_SOURCE_DIR}/libraries/AP_IMU
-${CMAKE_SOURCE_DIR}/libraries/AP_ADC
-${CMAKE_SOURCE_DIR}/libraries/AP_DCM
-${CMAKE_SOURCE_DIR}/libraries/APM_RC
-${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
-${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
-)
-#====================================================================#
-#  Target generation                                                 #
-#====================================================================#
-generate_arduino_firmware(${FIRMWARE_NAME})
+generate_arduino_firmware(${PROJECT_NAME})
 
 install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/${FIRMWARE_NAME}.hex 
+	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex 
 	DESTINATION bin
 	)
diff --git a/apo/CMakeLists.txt b/apo/CMakeLists.txt
index 6471926e01..aa3fe000f0 100644
--- a/apo/CMakeLists.txt
+++ b/apo/CMakeLists.txt
@@ -1,12 +1,10 @@
 cmake_minimum_required(VERSION 2.6)
-
 set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
-set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules)
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
+set(CMAKE_MODULE_PATH    ${CMAKE_SOURCE_DIR}/cmake/modules)  # CMake module search path
 
 string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
 project(${PROJECT_NAME} C CXX)
-set(FIRMWARE_NAME ${PROJECT_NAME})
 
 set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
 
@@ -40,7 +38,7 @@ ${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
 )
 
 add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
-file(WRITE ${PROJECT_NAME}.cpp "// Do not edit")
+
 set(${PROJECT_NAME}_BOARD ${BOARD})
 file(GLOB ${PROJECT_NAME}_SKETCHES *.pde)
 file(GLOB ${PROJECT_NAME}_SRCS *.cpp)
diff --git a/apo/apo.pde b/apo/apo.pde
index 44a1edf0ce..dd67215691 100644
--- a/apo/apo.pde
+++ b/apo/apo.pde
@@ -1,5 +1,4 @@
 // Libraries
-#include <WProgram.h>
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <APM_RC.h>
@@ -14,6 +13,7 @@
 #include <APM_BMP085.h>
 #include <ModeFilter.h>
 #include <APO.h>
+#include <WProgram.h>
 
 // Vehicle Configuration
 #include "PlaneEasystar.h"
diff --git a/cmake/modules/ApmMakeSketch.cmake b/cmake/modules/ApmMakeSketch.cmake
index e5db60aa11..6aabc20ff2 100644
--- a/cmake/modules/ApmMakeSketch.cmake
+++ b/cmake/modules/ApmMakeSketch.cmake
@@ -1,9 +1,3 @@
-cmake_minimum_required(VERSION 2.6)
-
-set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
-set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules)
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake)
-
 string(REGEX REPLACE ".*/" "" PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR})
 project(${PROJECT_NAME} C CXX)
 
diff --git a/libraries/AP_Common/Arduino.mk b/libraries/AP_Common/Arduino.mk
index 0ff6796b31..8f3e97a0c8 100644
--- a/libraries/AP_Common/Arduino.mk
+++ b/libraries/AP_Common/Arduino.mk
@@ -305,7 +305,7 @@ LIBOBJS			:=	$(SKETCHLIBOBJS) $(ARDUINOLIBOBJS)
 # Pull the Arduino version from the revisions.txt file
 #
 # XXX can we count on this?  If not, what?
-ARDUINO_VERS		:=	$(shell expr `head -1 $(ARDUINO)/revisions.txt | cut -d ' ' -f 2`)
+ARDUINO_VERS		:=	$(shell expr `head -1 $(ARDUINO)/lib/version.txt | cut -d ' ' -f 2`)
 
 # Find the hardware directory to use
 HARDWARE_DIR		:=	$(firstword $(wildcard $(SKETCHBOOK)/hardware/$(HARDWARE) \