From 9195006541fe641f6f42ac4664f5eedaa1fbf91c Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Tue, 24 Jan 2012 09:09:08 -0800
Subject: [PATCH 01/12] APM_RC examples: add calls to enable_out after init

---
 libraries/APM_RC/examples/APM1_radio/APM1_radio.pde | 8 ++++++++
 libraries/APM_RC/examples/APM2/Purple_radio.pde     | 9 +++++++++
 2 files changed, 17 insertions(+)

diff --git a/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde b/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde
index a51e10f82a..36dbb32a20 100644
--- a/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde
+++ b/libraries/APM_RC/examples/APM1_radio/APM1_radio.pde
@@ -16,6 +16,14 @@ void setup()
 {
     isr_registry.init();
 	APM_RC.Init(&isr_registry);	 // APM Radio initialization
+  APM_RC.enable_out(CH_1);
+  APM_RC.enable_out(CH_2);
+  APM_RC.enable_out(CH_3);
+  APM_RC.enable_out(CH_4);
+  APM_RC.enable_out(CH_5);
+  APM_RC.enable_out(CH_6);
+  APM_RC.enable_out(CH_7);
+  APM_RC.enable_out(CH_8);
 
 	Serial.begin(115200);
 	Serial.println("ArduPilot Mega RC library test");
diff --git a/libraries/APM_RC/examples/APM2/Purple_radio.pde b/libraries/APM_RC/examples/APM2/Purple_radio.pde
index 2dcb8c77ef..b776ef0234 100644
--- a/libraries/APM_RC/examples/APM2/Purple_radio.pde
+++ b/libraries/APM_RC/examples/APM2/Purple_radio.pde
@@ -17,6 +17,15 @@ void setup()
     isr_registry.init();
 	APM_RC.Init(&isr_registry);	 // APM Radio initialization
 
+  APM_RC.enable_out(CH_1);
+  APM_RC.enable_out(CH_2);
+  APM_RC.enable_out(CH_3);
+  APM_RC.enable_out(CH_4);
+  APM_RC.enable_out(CH_5);
+  APM_RC.enable_out(CH_6);
+  APM_RC.enable_out(CH_7);
+  APM_RC.enable_out(CH_8);
+
 	Serial.begin(115200);
 	Serial.println("ArduPilot Mega RC library test");
 	delay(1000);

From 99506accf454cf069839247c05eab6e58983a344 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Jan 2012 21:45:52 +0900
Subject: [PATCH 02/12] Optical Flow - added overflow check

---
 libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp         | 5 ++++-
 libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h           | 3 ++-
 .../examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde     | 4 ++++
 3 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
index dfd6ae870e..85c6251b08 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
@@ -190,11 +190,14 @@ AP_OpticalFlow_ADNS3080::reset()
 bool
 AP_OpticalFlow_ADNS3080::update()
 {
+    byte motion_reg;
     surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
 	delayMicroseconds(50);  // small delay
 
     // check for movement, update x,y values
-	if( (read_register(ADNS3080_MOTION) & 0x80) != 0 ) {
+	motion_reg = read_register(ADNS3080_MOTION);
+	_overflow = ((motion_reg & 0x10) != 0);  // check if we've had an overflow
+	if( (motion_reg & 0x80) != 0 ) {
 		raw_dx = ((char)read_register(ADNS3080_DELTA_X));
 		delayMicroseconds(50);  // small delay
 		raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
index bd257c986f..cb5eb1bb3d 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
@@ -100,7 +100,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
   public:
 	int _cs_pin;     // pin used for chip select
 	int _reset_pin;  // pin used for chip reset
-	bool _motion;  	// true if there has been motion
+	bool _motion;  	 // true if there has been motion
+	bool _overflow;  // true if the x or y data buffers overflowed
 
   public:
   	AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
index fa369532ce..aec1a24bda 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
@@ -312,6 +312,10 @@ void display_motion()
 	    flowSensor.update();
 		flowSensor.update_position(0,0,0,1,100);
 
+		// check for errors
+		if( flowSensor._overflow )
+		    Serial.println("overflow!!");
+
 		// x,y,squal
 		//if( flowSensor.motion() || first_time ) {
 			Serial.print("x/dx: ");

From 4434ddf389e6f026224e62a5f8c2c1520d562871 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Jan 2012 21:53:20 +0900
Subject: [PATCH 03/12] Optical flow - updated standard frame rate to 2000hz
 and increased resolution to 1600cpi

---
 ArduCopter/sensors.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 18df44a760..271c57ed37 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -92,6 +92,8 @@ static void init_optflow()
 	    SendDebug("\nFailed to Init OptFlow ");
 	}
 	optflow.set_orientation(OPTFLOW_ORIENTATION);			// set optical flow sensor's orientation on aircraft
+	optflow.set_frame_rate(2000);							// set minimum update rate (which should lead to maximum low light performance
+	optflow.set_resolution(OPTFLOW_RESOLUTION);				// set optical flow sensor's resolution
 	optflow.set_field_of_view(OPTFLOW_FOV);					// set optical flow sensor's field of view
 	// setup timed read of sensor
 	//timer_scheduler.register_process(&AP_OpticalFlow::read);

From 2c906b7b270fa36c7cbdf9d55f00351b4ee44210 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Jan 2012 21:55:14 +0900
Subject: [PATCH 04/12] OpticalFlow - replaced PI controller with PID
 controller. Modified optical flow hold to use aggregated position instead of
 speed.

---
 ArduCopter/ArduCopter.pde | 10 +++++++--
 ArduCopter/Attitude.pde   | 44 ++++++++++++++++++++++-----------------
 ArduCopter/Parameters.h   |  8 +++----
 ArduCopter/config.h       | 17 +++++++++++----
 ArduCopter/defines.h      |  1 +
 5 files changed, 51 insertions(+), 29 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 86bd6e060f..193a112b8a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -69,6 +69,7 @@ http://code.google.com/p/ardupilot-mega/downloads/list
 #include <AP_TimerProcess.h>            // TimerProcess is the scheduler for MPU6000 reads.
 #include <AP_DCM.h>         // ArduPilot Mega DCM Library
 #include <APM_PI.h>            	// PI library
+#include <PID.h>            // PID library
 #include <RC_Channel.h>     // RC Channel Library
 #include <AP_RangeFinder.h>	// Range finder library
 #include <AP_OpticalFlow.h> // Optical Flow library
@@ -1989,17 +1990,22 @@ static void tuning(){
 			break;
 
 		case CH6_OPTFLOW_KP:
-			g.rc_6.set_range(0,10000);     // 0 to 10
+			g.rc_6.set_range(0,5000);     // 0 to 5
 			g.pi_optflow_roll.kP(tuning_value);
 			g.pi_optflow_pitch.kP(tuning_value);
 			break;
 
 		case CH6_OPTFLOW_KI:
-			g.rc_6.set_range(0,100);     // 0 to 0.1
+			g.rc_6.set_range(0,10000);     // 0 to 10
 			g.pi_optflow_roll.kI(tuning_value);
 			g.pi_optflow_pitch.kI(tuning_value);
 			break;
 
+		case CH6_OPTFLOW_KD:
+			g.rc_6.set_range(0,200);    // 0 to 0.2
+			g.pi_optflow_roll.kD(tuning_value);
+			g.pi_optflow_pitch.kD(tuning_value);
+			break;
 	}
 }
 
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 16c6cd59fe..0851d90333 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -258,6 +258,8 @@ static void reset_optflow_I(void)
 {
 	g.pi_optflow_roll.reset_I();
 	g.pi_optflow_pitch.reset_I();
+	of_roll = 0;
+	of_pitch = 0;
 }
 
 static void reset_wind_I(void)
@@ -462,34 +464,35 @@ static void init_z_damper()
 }
 #endif
 
-// calculate modified roll/pitch depending upon optical flow values
+// calculate modified roll/pitch depending upon optical flow calculated position
 static int32_t
 get_of_roll(int32_t control_roll)
 {
 #ifdef OPTFLOW_ENABLED
-	//static int32_t of_roll = 0;  // we use global variable to make logging easier
+	static float tot_x_cm = 0;  // total distance from target
     static unsigned long last_of_roll_update = 0;
-	static float prev_value = 0;
-	float x_cm;
+	int32_t new_roll = 0;
 
 	// check if new optflow data available
 	if( optflow.last_update != last_of_roll_update) {
 	    last_of_roll_update = optflow.last_update;
 
-		// filter movement
-		x_cm = (optflow.x_cm + prev_value) / 2.0 * 50.0;
+		// add new distance moved
+		tot_x_cm += optflow.x_cm;
 
 		// only stop roll if caller isn't modifying roll
 		if( control_roll == 0 && current_loc.alt < 1500) {
-			of_roll = g.pi_optflow_roll.get_pi(-x_cm, 1.0);  // we could use the last update time to calculate the time change
+			new_roll = g.pi_optflow_roll.get_pid(-tot_x_cm, 1.0, 1.0);  // we could use the last update time to calculate the time change
 		}else{
 		    g.pi_optflow_roll.reset_I();
-			prev_value = 0;
+			tot_x_cm = 0;
 		}
+		// limit amount of change and maximum angle
+		of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
 	}
-	// limit maximum angle
-	of_roll	= constrain(of_roll, -1000, 1000);
 
+	// limit max angle
+    of_roll = constrain(of_roll, -1000, 1000);
     return control_roll+of_roll;
 #else
     return control_roll;
@@ -500,27 +503,30 @@ static int32_t
 get_of_pitch(int32_t control_pitch)
 {
 #ifdef OPTFLOW_ENABLED
-    //static int32_t of_pitch = 0;  // we use global variable to make logging easier
+    static float tot_y_cm = 0;  // total distance from target
     static unsigned long last_of_pitch_update = 0;
-	static float prev_value = 0;
-	float y_cm;
+	int32_t new_pitch = 0;
 
 	// check if new optflow data available
 	if( optflow.last_update != last_of_pitch_update ) {
 	    last_of_pitch_update = optflow.last_update;
 
-		// filter movement
-		y_cm = (optflow.y_cm + prev_value) / 2.0 * 50.0;
+		// add new distance moved
+		tot_y_cm += optflow.y_cm;
 
-		// only stop roll if caller isn't modifying roll
+		// only stop roll if caller isn't modifying pitch
 		if( control_pitch == 0 && current_loc.alt < 1500 ) {
-			of_pitch = g.pi_optflow_pitch.get_pi(y_cm, 1.0);  // we could use the last update time to calculate the time change
+			new_pitch = g.pi_optflow_pitch.get_pid(tot_y_cm, 1.0, 1.0);  // we could use the last update time to calculate the time change
 		}else{
+		    tot_y_cm = 0;
 		    g.pi_optflow_pitch.reset_I();
-			prev_value = 0;
 		}
+
+		// limit amount of change
+		of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
 	}
-	// limit maximum angle
+
+	// limit max angle
 	of_pitch = constrain(of_pitch, -1000, 1000);
     return control_pitch+of_pitch;
 #else
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index a94f36417f..4c061a6026 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -309,8 +309,8 @@ public:
 	APM_PI		pi_acro_roll;
 	APM_PI		pi_acro_pitch;
 
-	APM_PI		pi_optflow_roll;
-	APM_PI		pi_optflow_pitch;
+	PID			pi_optflow_roll;
+	PID			pi_optflow_pitch;
 
 	uint8_t		junk;
 
@@ -435,8 +435,8 @@ public:
 	pi_acro_roll		(k_param_pi_acro_roll,			PSTR("ACRO_RLL_"),	ACRO_ROLL_P,		ACRO_ROLL_I,		ACRO_ROLL_IMAX * 100),
 	pi_acro_pitch		(k_param_pi_acro_pitch,			PSTR("ACRO_PIT_"),	ACRO_PITCH_P,		ACRO_PITCH_I,		ACRO_PITCH_IMAX * 100),
 
-	pi_optflow_roll		(k_param_pi_optflow_roll,		PSTR("OF_RLL_"),	OPTFLOW_ROLL_P,		OPTFLOW_ROLL_I,		OPTFLOW_IMAX * 100),
-	pi_optflow_pitch	(k_param_pi_optflow_pitch,		PSTR("OF_PIT_"),	OPTFLOW_PITCH_P,	OPTFLOW_PITCH_I,	OPTFLOW_IMAX * 100),
+	pi_optflow_roll		(k_param_pi_optflow_roll,		PSTR("OF_RLL_"),	OPTFLOW_ROLL_P,		OPTFLOW_ROLL_I,		OPTFLOW_ROLL_D,		OPTFLOW_IMAX * 100),
+	pi_optflow_pitch	(k_param_pi_optflow_pitch,		PSTR("OF_PIT_"),	OPTFLOW_PITCH_P,	OPTFLOW_PITCH_I,	OPTFLOW_PITCH_D,	OPTFLOW_IMAX * 100),
 
 	junk(0)		// XXX just so that we can add things without worrying about the trailing comma
 	{
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index b309f5d6fa..defab3c1a0 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -313,21 +313,30 @@
 #ifndef OPTFLOW_ORIENTATION
 # define OPTFLOW_ORIENTATION 	AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
 #endif
+#ifndef OPTFLOW_RESOLUTION
+# define OPTFLOW_RESOLUTION 	ADNS3080_RESOLUTION_1600
+#endif
 #ifndef OPTFLOW_FOV
 # define OPTFLOW_FOV 			AP_OPTICALFLOW_ADNS3080_08_FOV
 #endif
 // optical flow based loiter PI values
 #ifndef OPTFLOW_ROLL_P
-  #define OPTFLOW_ROLL_P 6.4
+  #define OPTFLOW_ROLL_P 2.5
 #endif
 #ifndef OPTFLOW_ROLL_I
-  #define OPTFLOW_ROLL_I 0.068
+  #define OPTFLOW_ROLL_I 6.2
+#endif
+#ifndef OPTFLOW_ROLL_D
+  #define OPTFLOW_ROLL_D 0.12
 #endif
 #ifndef OPTFLOW_PITCH_P
-  #define OPTFLOW_PITCH_P 6.4
+  #define OPTFLOW_PITCH_P 2.5
 #endif
 #ifndef OPTFLOW_PITCH_I
-  #define OPTFLOW_PITCH_I 0.068
+  #define OPTFLOW_PITCH_I 6.2
+#endif
+#ifndef OPTFLOW_PITCH_D
+  #define OPTFLOW_PITCH_D 0.12
 #endif
 #ifndef OPTFLOW_IMAX
   #define OPTFLOW_IMAX 4
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 6c0720799d..c0121912fb 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -163,6 +163,7 @@
 // optical flow controller
 #define CH6_OPTFLOW_KP 17
 #define CH6_OPTFLOW_KI 18
+#define CH6_OPTFLOW_KD 19
 
 
 // nav byte mask

From 6c033072175f1ad15bf9b5db25c637b4cd087b22 Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Wed, 25 Jan 2012 22:41:09 -0800
Subject: [PATCH 05/12] ArduCopter Heli: add motors_output_enable function

---
 ArduCopter/heli.pde | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 5b1a707b94..810d57e605 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -238,6 +238,18 @@ static void init_motors_out()
 	#endif
 }
 
+static void motors_output_enable()
+{
+  APM_RC.enable_out(CH_1);
+  APM_RC.enable_out(CH_2);
+  APM_RC.enable_out(CH_3);
+  APM_RC.enable_out(CH_4);
+  APM_RC.enable_out(CH_5);
+  APM_RC.enable_out(CH_6);
+  APM_RC.enable_out(CH_7);
+  APM_RC.enable_out(CH_8);
+}
+
 // these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
 static void output_motors_armed()
 {

From 8dee0016570cce2f4fc6d2367947227f85969533 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 26 Jan 2012 22:50:48 +0900
Subject: [PATCH 06/12] Sonar - changed default pin to A0

---
 ArduCopter/config.h                                             | 2 +-
 .../examples/AP_RangeFinder_test/AP_RangeFinder_test.pde        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index defab3c1a0..a483e98a93 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -176,7 +176,7 @@
 # endif
 #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
 # ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
-#  define CONFIG_SONAR_SOURCE_ANALOG_PIN A1
+#  define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
 # endif
 #else
 # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
diff --git a/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde b/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
index 19ec2e7a45..b26d1aab44 100644
--- a/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
+++ b/libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
@@ -30,7 +30,7 @@ ModeFilter mode_filter;
     AP_ADC_ADS7844 adc;
     AP_AnalogSource_ADC adc_source(&adc, AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL, 0.25);    // use Pitot tube
 #else
-    AP_AnalogSource_Arduino adc_source(A1);   // use AN1 analog pin (APM1: on oilpan at back right near the CLI switch.  APM2: on left)
+    AP_AnalogSource_Arduino adc_source(A0);   // use AN0 analog pin for APM2 on left
 #endif
 
 // create the range finder object

From a8b3d2f06342f8360c385dcaa98ec6fcf6dc855d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 26 Jan 2012 23:35:49 +0900
Subject: [PATCH 07/12] OpticalFlow - fixed minor compiler warnings and moved
 chip select to A3 for APM2

---
 .../AP_OpticalFlow_test.pde                   | 32 ++++++++-----------
 1 file changed, 13 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
index aec1a24bda..110ab55173 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
@@ -21,7 +21,7 @@
 FastSerialPort0(Serial);        // FTDI/console
 
 AP_OpticalFlow_ADNS3080 flowSensor;
-//AP_OpticalFlow_ADNS3080 flowSensor(A6);  // override chip select pin to use A6 if using APM2
+//AP_OpticalFlow_ADNS3080 flowSensor(A3);  // override chip select pin to use A3 if using APM2
 
 void setup()
 {  
@@ -110,7 +110,6 @@ void display_config()
 void set_frame_rate()
 {
     int value;
-	byte extConfig;
 	
 	// frame rate
 	Serial.print("frame rate:     ");
@@ -196,7 +195,6 @@ void display_image_continuously()
 void set_resolution()
 {
     int value;
-	byte reg;
     int resolution = flowSensor.get_resolution();
     Serial.print("resolution: ");
 	Serial.println(resolution);
@@ -231,7 +229,6 @@ void set_resolution()
 void set_shutter_speed()
 {
     int value;
-	byte extConfig;
 	
 	// shutter speed
 	Serial.print("shutter speed:     ");
@@ -300,7 +297,6 @@ void set_shutter_speed()
 //
 void display_motion()
 {
-    int value;
     boolean first_time = true;
     Serial.flush();
 	
@@ -317,20 +313,18 @@ void display_motion()
 		    Serial.println("overflow!!");
 
 		// x,y,squal
-		//if( flowSensor.motion() || first_time ) {
-			Serial.print("x/dx: ");
-			Serial.print(flowSensor.x,DEC);
-			Serial.print("/");
-			Serial.print(flowSensor.dx,DEC);
-			Serial.print("\ty/dy: ");
-			Serial.print(flowSensor.y,DEC);
-			Serial.print("/");
-			Serial.print(flowSensor.dy,DEC);
-			Serial.print("\tsqual:");
-			Serial.print(flowSensor.surface_quality,DEC);		
-			Serial.println();
-			first_time = false;
-		//}
+		Serial.print("x/dx: ");
+		Serial.print(flowSensor.x,DEC);
+		Serial.print("/");
+		Serial.print(flowSensor.dx,DEC);
+		Serial.print("\ty/dy: ");
+		Serial.print(flowSensor.y,DEC);
+		Serial.print("/");
+		Serial.print(flowSensor.dy,DEC);
+		Serial.print("\tsqual:");
+		Serial.print(flowSensor.surface_quality,DEC);
+		Serial.println();
+		first_time = false;
 		
 		// short delay
 		delay(100);

From 64f59e4dd57b03eef6cfaba89f6928c1480e1c6d Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Fri, 27 Jan 2012 16:01:28 +0800
Subject: [PATCH 08/12] APM Planner 1.1.29 add sensor offsets add script note
 remove some old unused define code new setup for Aerosim-rc 3.83 - not
 released yet. fix some opengl linux exceptions fix italian

---
 .../ArdupilotMegaPlanner/ArdupilotMega.csproj |   9 +-
 .../Controls/ImageLabel.Designer.cs           |   4 +
 .../Controls/ImageLabel.cs                    |   2 +-
 Tools/ArdupilotMegaPlanner/CurrentState.cs    |  75 +-
 .../GCSViews/Firmware.Designer.cs             | 249 +++++++
 .../ArdupilotMegaPlanner/GCSViews/Firmware.cs | 257 +------
 .../GCSViews/Firmware.resx                    | 653 +-----------------
 .../GCSViews/FlightData.cs                    |  24 +-
 .../GCSViews/FlightPlanner.cs                 |  42 +-
 .../GCSViews/Simulation.cs                    |  70 +-
 Tools/ArdupilotMegaPlanner/HIL/Utils.cs       |  16 +-
 Tools/ArdupilotMegaPlanner/HUD.cs             | 158 +++--
 Tools/ArdupilotMegaPlanner/MainV2.cs          |   9 +-
 Tools/ArdupilotMegaPlanner/Program.cs         |  16 -
 .../Properties/AssemblyInfo.cs                |   2 +-
 Tools/ArdupilotMegaPlanner/Setup/Setup.cs     |   3 +
 .../bin/Release/defines.h                     | 346 ----------
 17 files changed, 540 insertions(+), 1395 deletions(-)
 create mode 100644 Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs
 delete mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/defines.h

diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 26159003fd..ca896af5e0 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -253,6 +253,9 @@
     <Compile Include="Controls\XorPlus.Designer.cs">
       <DependentUpon>XorPlus.cs</DependentUpon>
     </Compile>
+    <Compile Include="GCSViews\Firmware.Designer.cs">
+      <DependentUpon>Firmware.cs</DependentUpon>
+    </Compile>
     <Compile Include="HIL\Utils.cs" />
     <Compile Include="ResEdit.cs">
       <SubType>Form</SubType>
@@ -652,9 +655,6 @@
     <EmbeddedResource Include="GCSViews\Terminal.zh-Hans.resx">
       <DependentUpon>Terminal.cs</DependentUpon>
     </EmbeddedResource>
-    <EmbeddedResource Include="HUD.resx">
-      <DependentUpon>HUD.cs</DependentUpon>
-    </EmbeddedResource>
     <EmbeddedResource Include="JoystickSetup.resx">
       <DependentUpon>JoystickSetup.cs</DependentUpon>
       <SubType>Designer</SubType>
@@ -733,9 +733,6 @@
     <None Include="arducopter-xplane.zip">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>
-    <None Include="defines.h">
-      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
-    </None>
     <None Include="m3u\networklink.kml">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs
index 40a6038712..dfa1e43a2d 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs
@@ -39,6 +39,9 @@
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             this.pictureBox1.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBox1.ErrorImage = global::ArdupilotMega.Properties.Resources.bg;
+            this.pictureBox1.Image = global::ArdupilotMega.Properties.Resources.bg;
+            this.pictureBox1.InitialImage = global::ArdupilotMega.Properties.Resources.bg;
             this.pictureBox1.Location = new System.Drawing.Point(0, 0);
             this.pictureBox1.Name = "pictureBox1";
             this.pictureBox1.Size = new System.Drawing.Size(170, 155);
@@ -55,6 +58,7 @@
             this.label1.Name = "label1";
             this.label1.Size = new System.Drawing.Size(170, 13);
             this.label1.TabIndex = 1;
+            this.label1.Text = "None";
             this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // ImageLabel
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
index 4bed18b5fd..2e9637b0d1 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
@@ -9,7 +9,7 @@ using System.Windows.Forms;
 
 namespace ArdupilotMega
 {
-    public partial class ImageLabel : UserControl
+    public partial class ImageLabel :         UserControl
     {
         public new event EventHandler Click;
 
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 5276a64649..c502e71910 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -99,7 +99,14 @@ namespace ArdupilotMega
             get {
                 try
                 {
-                    return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
+                    if (MainV2.comPort.param.ContainsKey("RC3_MIN"))
+                    {
+                        return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
+                    }
+                    else
+                    {
+                        return 0;
+                    }
                 }
                 catch {
                     return 0;
@@ -141,6 +148,24 @@ namespace ArdupilotMega
         public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0 || _battery_remaining > 100) _battery_remaining = 0; } }
         private float _battery_remaining;
 
+        // pressure
+        public float press_abs { get; set; }
+        public int press_temp { get; set; }
+
+        // sensor offsets
+        public int mag_ofs_x { get; set; }
+        public int mag_ofs_y { get; set; }
+        public int mag_ofs_z { get; set; }
+        public float mag_declination { get; set; }
+        public int raw_press { get; set; }
+        public int raw_temp { get; set; }
+        public float gyro_cal_x { get; set; }
+        public float gyro_cal_y { get; set; }
+        public float gyro_cal_z { get; set; }
+        public float accel_cal_x { get; set; }
+        public float accel_cal_y { get; set; }
+        public float accel_cal_z { get; set; }
+
         // HIL
         public int hilch1 { get; set; }
         public int hilch2 { get; set; }
@@ -190,6 +215,7 @@ namespace ArdupilotMega
             ratestatus = 1;
             ratesensors = 3;
             raterc = 3;
+            datetime = DateTime.MinValue;
         }
 
         const float rad2deg = (float)(180 / Math.PI);
@@ -229,6 +255,7 @@ namespace ArdupilotMega
                     int ind = logdata.IndexOf('\0');
                     if (ind != -1)
                         logdata = logdata.Substring(0, ind);
+
                     if (messages.Count > 5)
                     {
                         messages.RemoveAt(0);
@@ -519,6 +546,51 @@ namespace ArdupilotMega
                     //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
                 }				
 #endif
+
+                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE] != null)
+                {
+                    var pres = new ArdupilotMega.MAVLink.__mavlink_scaled_pressure_t();
+
+                    object temp = pres;
+
+                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE], ref temp, 6);
+
+                    pres = (MAVLink.__mavlink_scaled_pressure_t)(temp);
+
+                    press_abs = pres.press_abs;
+
+                    press_temp = pres.temperature;                  
+
+                }
+
+                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS] != null)
+                {
+                    var sensofs = new ArdupilotMega.MAVLink.__mavlink_sensor_offsets_t();
+
+                    object temp = sensofs;
+
+                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS], ref temp, 6);
+
+                    sensofs = (MAVLink.__mavlink_sensor_offsets_t)(temp);
+
+                    mag_ofs_x = sensofs.mag_ofs_x;
+                    mag_ofs_y = sensofs.mag_ofs_y;
+                    mag_ofs_z = sensofs.mag_ofs_z;
+                    mag_declination = sensofs.mag_declination;
+
+                    raw_press = sensofs.raw_press;
+                    raw_temp = sensofs.raw_temp;
+
+                    gyro_cal_x = sensofs.gyro_cal_x;
+                    gyro_cal_y = sensofs.gyro_cal_y;
+                    gyro_cal_z = sensofs.gyro_cal_z;
+
+                    accel_cal_x = sensofs.accel_cal_x;
+                    accel_cal_y = sensofs.accel_cal_y;
+                    accel_cal_z = sensofs.accel_cal_z;
+
+                }
+
                 if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
                 {
                     var att = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
@@ -819,6 +891,7 @@ namespace ArdupilotMega
             {
                 if (bs != null)
                 {
+                    //System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
                     //Console.WriteLine(DateTime.Now.Millisecond);
                     bs.DataSource = this;
                     //Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow);
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs
new file mode 100644
index 0000000000..fa56951ee9
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs
@@ -0,0 +1,249 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Text;
+using System.Windows.Forms;
+using System.Text.RegularExpressions;
+using System.IO.Ports;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Xml;
+using System.Net;
+
+namespace ArdupilotMega.GCSViews
+{
+    partial class Firmware : MyUserControl
+    {
+        
+                /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+        
+        
+        private ImageLabel pictureBoxAPM;
+        private ImageLabel pictureBoxQuad;
+        private ImageLabel pictureBoxHexa;
+        private ImageLabel pictureBoxTri;
+        private ImageLabel pictureBoxY6;
+        private System.Windows.Forms.Label lbl_status;
+        private System.Windows.Forms.ProgressBar progress;
+        private System.Windows.Forms.Label label2;
+        private ImageLabel pictureBoxHeli;
+        private MyButton BUT_setup;
+        private PictureBox pictureBoxHilimage;
+        private PictureBox pictureBoxAPHil;
+        private PictureBox pictureBoxACHil;
+        private PictureBox pictureBoxACHHil;
+        private ImageLabel pictureBoxOcta;
+        private Label label1;
+        private ImageLabel pictureBoxOctav;
+
+        private void InitializeComponent()
+        {
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
+            this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
+            this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
+            this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
+            this.pictureBoxTri = new ArdupilotMega.ImageLabel();
+            this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
+            this.lbl_status = new System.Windows.Forms.Label();
+            this.progress = new System.Windows.Forms.ProgressBar();
+            this.label2 = new System.Windows.Forms.Label();
+            this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
+            this.BUT_setup = new ArdupilotMega.MyButton();
+            this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
+            this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
+            this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
+            this.label1 = new System.Windows.Forms.Label();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // pictureBoxAPM
+            // 
+            this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxAPM.Image = null;
+            resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
+            this.pictureBoxAPM.Name = "pictureBoxAPM";
+            this.pictureBoxAPM.TabStop = false;
+            this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
+            // 
+            // pictureBoxQuad
+            // 
+            this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxQuad.Image = null;
+            resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
+            this.pictureBoxQuad.Name = "pictureBoxQuad";
+            this.pictureBoxQuad.TabStop = false;
+            this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
+            // 
+            // pictureBoxHexa
+            // 
+            this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxHexa.Image = null;
+            resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
+            this.pictureBoxHexa.Name = "pictureBoxHexa";
+            this.pictureBoxHexa.TabStop = false;
+            this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
+            // 
+            // pictureBoxTri
+            // 
+            this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxTri.Image = null;
+            resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
+            this.pictureBoxTri.Name = "pictureBoxTri";
+            this.pictureBoxTri.TabStop = false;
+            this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
+            // 
+            // pictureBoxY6
+            // 
+            this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxY6.Image = null;
+            resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
+            this.pictureBoxY6.Name = "pictureBoxY6";
+            this.pictureBoxY6.TabStop = false;
+            this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
+            // 
+            // lbl_status
+            // 
+            resources.ApplyResources(this.lbl_status, "lbl_status");
+            this.lbl_status.Name = "lbl_status";
+            // 
+            // progress
+            // 
+            resources.ApplyResources(this.progress, "progress");
+            this.progress.Name = "progress";
+            this.progress.Step = 1;
+            // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
+            // pictureBoxHeli
+            // 
+            this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxHeli.Image = null;
+            resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
+            this.pictureBoxHeli.Name = "pictureBoxHeli";
+            this.pictureBoxHeli.TabStop = false;
+            this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
+            // 
+            // BUT_setup
+            // 
+            resources.ApplyResources(this.BUT_setup, "BUT_setup");
+            this.BUT_setup.Name = "BUT_setup";
+            this.BUT_setup.UseVisualStyleBackColor = true;
+            this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
+            // 
+            // pictureBoxHilimage
+            // 
+            this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
+            resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
+            this.pictureBoxHilimage.Name = "pictureBoxHilimage";
+            this.pictureBoxHilimage.TabStop = false;
+            // 
+            // pictureBoxAPHil
+            // 
+            this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
+            resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
+            this.pictureBoxAPHil.Name = "pictureBoxAPHil";
+            this.pictureBoxAPHil.TabStop = false;
+            this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
+            // 
+            // pictureBoxACHil
+            // 
+            this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
+            resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
+            this.pictureBoxACHil.Name = "pictureBoxACHil";
+            this.pictureBoxACHil.TabStop = false;
+            this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
+            // 
+            // pictureBoxACHHil
+            // 
+            this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
+            resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
+            this.pictureBoxACHHil.Name = "pictureBoxACHHil";
+            this.pictureBoxACHHil.TabStop = false;
+            this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
+            // 
+            // pictureBoxOcta
+            // 
+            this.pictureBoxOcta.Image = null;
+            resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
+            this.pictureBoxOcta.Name = "pictureBoxOcta";
+            this.pictureBoxOcta.TabStop = false;
+            this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
+            // 
+            // pictureBoxOctav
+            // 
+            this.pictureBoxOctav.Image = null;
+            resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
+            this.pictureBoxOctav.Name = "pictureBoxOctav";
+            this.pictureBoxOctav.TabStop = false;
+            this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
+            // Firmware
+            // 
+            resources.ApplyResources(this, "$this");
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.BUT_setup);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.lbl_status);
+            this.Controls.Add(this.progress);
+            this.Controls.Add(this.pictureBoxACHHil);
+            this.Controls.Add(this.pictureBoxACHil);
+            this.Controls.Add(this.pictureBoxAPHil);
+            this.Controls.Add(this.pictureBoxHilimage);
+            this.Controls.Add(this.pictureBoxOctav);
+            this.Controls.Add(this.pictureBoxOcta);
+            this.Controls.Add(this.pictureBoxHeli);
+            this.Controls.Add(this.pictureBoxY6);
+            this.Controls.Add(this.pictureBoxTri);
+            this.Controls.Add(this.pictureBoxHexa);
+            this.Controls.Add(this.pictureBoxQuad);
+            this.Controls.Add(this.pictureBoxAPM);
+            this.MinimumSize = new System.Drawing.Size(1008, 461);
+            this.Name = "Firmware";
+            this.Load += new System.EventHandler(this.Firmware_Load);
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index 7f61c9d4d0..f3a3d9adf2 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -14,230 +14,11 @@ using System.Net;
 
 namespace ArdupilotMega.GCSViews
 {
-    class Firmware : MyUserControl
+    partial class Firmware : MyUserControl
     {
-        private ImageLabel pictureBoxAPM;
-        private ImageLabel pictureBoxQuad;
-        private ImageLabel pictureBoxHexa;
-        private ImageLabel pictureBoxTri;
-        private ImageLabel pictureBoxY6;
-        private System.Windows.Forms.Label lbl_status;
-        private System.Windows.Forms.ProgressBar progress;
-        private System.Windows.Forms.Label label2;
-        private ImageLabel pictureBoxHeli;
-        private MyButton BUT_setup;
-        private PictureBox pictureBoxHilimage;
-        private PictureBox pictureBoxAPHil;
-        private PictureBox pictureBoxACHil;
-        private PictureBox pictureBoxACHHil;
-        private ImageLabel pictureBoxOcta;
-        private Label label1;
-        private ImageLabel pictureBoxOctav;
-
-        private void InitializeComponent()
-        {
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
-            this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
-            this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
-            this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
-            this.pictureBoxTri = new ArdupilotMega.ImageLabel();
-            this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
-            this.lbl_status = new System.Windows.Forms.Label();
-            this.progress = new System.Windows.Forms.ProgressBar();
-            this.label2 = new System.Windows.Forms.Label();
-            this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
-            this.BUT_setup = new ArdupilotMega.MyButton();
-            this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
-            this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
-            this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
-            this.label1 = new System.Windows.Forms.Label();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
-            this.SuspendLayout();
-            // 
-            // pictureBoxAPM
-            // 
-            this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxAPM.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_001;
-            resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
-            this.pictureBoxAPM.Name = "pictureBoxAPM";
-            this.pictureBoxAPM.TabStop = false;
-            this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
-            // 
-            // pictureBoxQuad
-            // 
-            this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuad.Image = ((System.Drawing.Image)(resources.GetObject("pictureBoxQuad.Image")));
-            resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
-            this.pictureBoxQuad.Name = "pictureBoxQuad";
-            this.pictureBoxQuad.TabStop = false;
-            this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
-            // 
-            // pictureBoxHexa
-            // 
-            this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.hexa;
-            resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
-            this.pictureBoxHexa.Name = "pictureBoxHexa";
-            this.pictureBoxHexa.TabStop = false;
-            this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
-            // 
-            // pictureBoxTri
-            // 
-            this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.tri;
-            resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
-            this.pictureBoxTri.Name = "pictureBoxTri";
-            this.pictureBoxTri.TabStop = false;
-            this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
-            // 
-            // pictureBoxY6
-            // 
-            this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.y6;
-            resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
-            this.pictureBoxY6.Name = "pictureBoxY6";
-            this.pictureBoxY6.TabStop = false;
-            this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
-            // 
-            // lbl_status
-            // 
-            resources.ApplyResources(this.lbl_status, "lbl_status");
-            this.lbl_status.Name = "lbl_status";
-            // 
-            // progress
-            // 
-            resources.ApplyResources(this.progress, "progress");
-            this.progress.Name = "progress";
-            this.progress.Step = 1;
-            // 
-            // label2
-            // 
-            resources.ApplyResources(this.label2, "label2");
-            this.label2.Name = "label2";
-            // 
-            // pictureBoxHeli
-            // 
-            this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxHeli.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_08;
-            resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
-            this.pictureBoxHeli.Name = "pictureBoxHeli";
-            this.pictureBoxHeli.TabStop = false;
-            this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
-            // 
-            // BUT_setup
-            // 
-            resources.ApplyResources(this.BUT_setup, "BUT_setup");
-            this.BUT_setup.Name = "BUT_setup";
-            this.BUT_setup.UseVisualStyleBackColor = true;
-            this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
-            // 
-            // pictureBoxHilimage
-            // 
-            this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
-            resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
-            this.pictureBoxHilimage.Name = "pictureBoxHilimage";
-            this.pictureBoxHilimage.TabStop = false;
-            // 
-            // pictureBoxAPHil
-            // 
-            this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
-            resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
-            this.pictureBoxAPHil.Name = "pictureBoxAPHil";
-            this.pictureBoxAPHil.TabStop = false;
-            this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
-            // 
-            // pictureBoxACHil
-            // 
-            this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
-            resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
-            this.pictureBoxACHil.Name = "pictureBoxACHil";
-            this.pictureBoxACHil.TabStop = false;
-            this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
-            // 
-            // pictureBoxACHHil
-            // 
-            this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
-            resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
-            this.pictureBoxACHHil.Name = "pictureBoxACHHil";
-            this.pictureBoxACHHil.TabStop = false;
-            this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
-            // 
-            // pictureBoxOcta
-            // 
-            this.pictureBoxOcta.Image = global::ArdupilotMega.Properties.Resources.octo;
-            resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
-            this.pictureBoxOcta.Name = "pictureBoxOcta";
-            this.pictureBoxOcta.TabStop = false;
-            this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
-            // 
-            // pictureBoxOctav
-            // 
-            this.pictureBoxOctav.Image = global::ArdupilotMega.Properties.Resources.octov;
-            resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
-            this.pictureBoxOctav.Name = "pictureBoxOctav";
-            this.pictureBoxOctav.TabStop = false;
-            this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
-            // 
-            // label1
-            // 
-            resources.ApplyResources(this.label1, "label1");
-            this.label1.Name = "label1";
-            // 
-            // Firmware
-            // 
-            resources.ApplyResources(this, "$this");
-            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.label1);
-            this.Controls.Add(this.pictureBoxOctav);
-            this.Controls.Add(this.pictureBoxOcta);
-            this.Controls.Add(this.pictureBoxACHHil);
-            this.Controls.Add(this.pictureBoxACHil);
-            this.Controls.Add(this.pictureBoxAPHil);
-            this.Controls.Add(this.pictureBoxHilimage);
-            this.Controls.Add(this.BUT_setup);
-            this.Controls.Add(this.pictureBoxHeli);
-            this.Controls.Add(this.label2);
-            this.Controls.Add(this.lbl_status);
-            this.Controls.Add(this.progress);
-            this.Controls.Add(this.pictureBoxY6);
-            this.Controls.Add(this.pictureBoxTri);
-            this.Controls.Add(this.pictureBoxHexa);
-            this.Controls.Add(this.pictureBoxQuad);
-            this.Controls.Add(this.pictureBoxAPM);
-            this.MinimumSize = new System.Drawing.Size(1008, 461);
-            this.Name = "Firmware";
-            this.Load += new System.EventHandler(this.FirmwareVisual_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
-            this.ResumeLayout(false);
-            this.PerformLayout();
-
-        }
 
         protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
         {
-            if (keyData == (Keys.Control | Keys.B))
-            {
-                findfirmware("AP-trunk");
-                return true;
-            }
-            if (keyData == (Keys.Control | Keys.A))
-            {
-                findfirmware("AC2-QUADHIL");
-                return true;
-            }
-
             if (keyData == (Keys.Control | Keys.C))
             {
                 OpenFileDialog fd = new OpenFileDialog();
@@ -265,26 +46,31 @@ namespace ArdupilotMega.GCSViews
             public int k_format_version;
         }
 
-        public enum FRAMETYPES
-        {
-            NONE,
-            TRI,
-            QUAD,
-            HEXA,
-            Y6,
-            APM,
-            APMHIL,
-            HELI
-        }
-
         public Firmware()
         {
             InitializeComponent();
+
             WebRequest.DefaultWebProxy.Credentials = System.Net.CredentialCache.DefaultCredentials;
+
+            this.pictureBoxAPM.Image = ArdupilotMega.Properties.Resources.APM_airframes_001;
+            this.pictureBoxQuad.Image = ArdupilotMega.Properties.Resources.quad;
+            this.pictureBoxHexa.Image = ArdupilotMega.Properties.Resources.hexa;
+            this.pictureBoxTri.Image = ArdupilotMega.Properties.Resources.tri;
+            this.pictureBoxY6.Image = ArdupilotMega.Properties.Resources.y6;
+            this.pictureBoxHeli.Image = ArdupilotMega.Properties.Resources.APM_airframes_08;
+            this.pictureBoxHilimage.Image = ArdupilotMega.Properties.Resources.hil;
+            this.pictureBoxAPHil.Image = ArdupilotMega.Properties.Resources.hilplane;
+            this.pictureBoxACHil.Image = ArdupilotMega.Properties.Resources.hilquad;
+            this.pictureBoxACHHil.Image = ArdupilotMega.Properties.Resources.hilheli;
+            this.pictureBoxOcta.Image = ArdupilotMega.Properties.Resources.octo;
+            this.pictureBoxOctav.Image = ArdupilotMega.Properties.Resources.octov;
+
         }
 
-        private void FirmwareVisual_Load(object sender, EventArgs e)
+        internal void Firmware_Load(object sender, EventArgs e)
         {
+            Console.WriteLine("FW load");
+
             string url = "";
             string url2560 = "";
             string url2560_2 = "";
@@ -292,6 +78,8 @@ namespace ArdupilotMega.GCSViews
             string desc = "";
             int k_format_version = 0;
 
+            softwares.Clear();
+
             software temp = new software();
 
             try
@@ -357,6 +145,7 @@ namespace ArdupilotMega.GCSViews
 
             }
             catch (Exception ex) { MessageBox.Show("Failed to get Firmware List : " + ex.Message); }
+            Console.WriteLine("FW load done");
         }
 
         void updateDisplayName(software temp)
@@ -435,7 +224,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 return;
             }
-            else if (items.Count == 2)
+            else if (items.Count == 2 && false)
             {
                 XorPlus select = new XorPlus();
                 MainV2.fixtheme(select);
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
index 30b5ae19dd..2f436fe289 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
@@ -144,634 +144,6 @@
   <data name="&gt;&gt;pictureBoxAPM.ZOrder" xml:space="preserve">
     <value>16</value>
   </data>
-  <data name="pictureBoxQuad.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-    <value>
-        iVBORw0KGgoAAAANSUhEUgAAAnEAAAJxCAYAAAAtjeQ4AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
-        YQUAAAAJcEhZcwAAFxEAABcRAcom8z8AAAAZdEVYdFNvZnR3YXJlAEFkb2JlIEltYWdlUmVhZHlxyWU8
-        AACRnUlEQVR4Xu29TY9lx3WuyZ+Q/0D5B3yRc8NATg30IGc24ElOPPGkE/DIgAel2e2RcmAYFxDUSBu4
-        hC+ghuhGU22ojb6lFnVNSRRuyVKXRZlg8wolumxSMsmqrGLlxzm936iIo6hd5+TZETv23vHxbOC4ZOb+
-        jPWutd5Ya8WKN9br9Rv8GAMwAAbAABgAA2AADJSFAQgcJBYMgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX
-        8gIDYAAMgIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAG
-        wAAYAAMFYgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEA
-        GAADYAAMlIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAY
-        AANgoEAMILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX8gID
-        YAAMgIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAGwAAY
-        AAMFYgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEAGAAD
-        YAAMlIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAYAANg
-        oEAMILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX8gIDYAAM
-        gIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAGwAAYAAMF
-        YgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEAGAADYAAM
-        lIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAYAANgoEAM
-        ILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJBXcnkddGN6bH/3
-        un/d7373v++/uP7ivedXv36w7Xe7un5H53S/C++6E3uvQ2SVXFb4GHwMGJgQAwzuhIOLQ8AhgIHRGBBZ
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-        856N1E1F7ETYlKo8d3vNOmKpRQqqF5yauPmtWtzqXr0P9gB7AAbAwDYM4KwgcWAADNyFAZNeFamaolj/
-        riif0rmKBIrUeYRmE7Hr6ukeW3KnNKwInn6K3omM7fq58/Tv/e673nOtQDY37v6HFieItOmbU+xrGhLN
-        ZCsznDWEDQwMxQAOHAcOBsDAPgxstouaKyq3i/QoEqb0q+rQRLT086N2PhHb979FDHW9SKLuJ8I2ZR3g
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-        /q76QPV6cwsW1M+uG48zIm/oBzYSDKTGACSOGQEYAANTYUDpQm1Z9bFfNzd30+AYIhZ6jQiqiKoIqzts
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-        c4wYRhwMgIEeBhSdO7U90TZRK+0EoZ5pS+6YMCT6pho/7e7Qi7ip1YpW6R6Dd/AOBsDAnBiAxDFLAANg
-        YCkMGEInAuTvX6oonUidyJJI01K1dIq0KVLotvjaMM7uf1zdXL7f/aOI29GcBptnQRDAABjwMbCU8ea5
-        EAcwAAb6GBAh0gKAt+xigA1vcvucilApYue21RoSPbvrHBFE3cuRNfW6c33cdpA2kU6RT/DLGIABMLA4
-        BhZ/AYwhzgAMgIEdGFBd2Un3uydi9+LmyQc+sfL/t6J3Il9Dfn4qdNv9unu9Z9OjIpSkSHHU+EkwkC0G
-        sn0xHDuOHQyAgTvInciVI3gieapJu6/f86tfP9j2s+TMnGOJoa7TT/fSjwgbzhqfCAaKwkBRL4tTx6mD
-        ATAABsAAGAADYOAlBiBxzDrAABgAA2AADIABMFAgBhBagUJjBsIsFAyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBv5/FOw4h5UG/3QAAAAASUVORK5CYII=
-</value>
-  </data>
   <data name="pictureBoxQuad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -896,7 +268,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;lbl_status.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>3</value>
   </data>
   <data name="progress.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -920,7 +292,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;progress.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>4</value>
   </data>
   <data name="label2.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -950,7 +322,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>2</value>
   </data>
   <data name="pictureBoxHeli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -974,7 +346,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxHeli.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>11</value>
   </data>
   <data name="BUT_setup.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1001,7 +373,10 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_setup.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>1</value>
+  </data>
+  <data name="pictureBoxHilimage.ImageLocation" xml:space="preserve">
+    <value />
   </data>
   <data name="pictureBoxHilimage.Location" type="System.Drawing.Point, System.Drawing">
     <value>10, 362</value>
@@ -1025,7 +400,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxHilimage.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>8</value>
   </data>
   <data name="pictureBoxAPHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1052,7 +427,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxAPHil.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>7</value>
   </data>
   <data name="pictureBoxACHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1079,7 +454,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxACHil.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>6</value>
   </data>
   <data name="pictureBoxACHHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1106,7 +481,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxACHHil.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>5</value>
   </data>
   <data name="pictureBoxOcta.Location" type="System.Drawing.Point, System.Drawing">
     <value>696, 176</value>
@@ -1127,7 +502,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxOcta.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>10</value>
   </data>
   <data name="pictureBoxOctav.Location" type="System.Drawing.Point, System.Drawing">
     <value>696, 0</value>
@@ -1148,7 +523,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;pictureBoxOctav.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>9</value>
   </data>
   <data name="label1.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
index 806c6e44dd..de3e0daf3d 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@@ -81,7 +81,9 @@ namespace ArdupilotMega.GCSViews
         protected override void Dispose(bool disposing)
         {
             threadrun = 0;
+            MainV2.comPort.logreadmode = false;
             MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
+            System.Threading.Thread.Sleep(100);
             base.Dispose(disposing);
         }
 
@@ -295,7 +297,9 @@ namespace ArdupilotMega.GCSViews
 
                 if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
                 {
-                    this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+                    if (threadrun == 0) { return; }
+
+                        this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
 {
     try
     {
@@ -319,7 +323,7 @@ namespace ArdupilotMega.GCSViews
                     int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
 
                     if (act > 9999 || act < 0)
-                        act = 1;
+                        act = 0;
 
                     int ts = 0;
                     try
@@ -330,6 +334,8 @@ namespace ArdupilotMega.GCSViews
                     if (ts > 0)
                         System.Threading.Thread.Sleep(ts);
 
+                    if (threadrun == 0) { return; }
+
                     tracklast = tracklast.AddMilliseconds(ts - act);
                     tunning = tunning.AddMilliseconds(ts - act);
 
@@ -1320,7 +1326,7 @@ namespace ArdupilotMega.GCSViews
             Form selectform = new Form()
             {
                 Name = "select",
-                Width = 750,
+                Width = 50,
                 Height = 250,
                 Text = "Graph This"
             };
@@ -1400,6 +1406,8 @@ namespace ArdupilotMega.GCSViews
                 {
                     x += 100;
                     y = 10;
+
+                    selectform.Width = x + 100;
                 }
             }
             MainV2.fixtheme(selectform);
@@ -1596,6 +1604,16 @@ namespace ArdupilotMega.GCSViews
         void ScriptStart()
         {
             string myscript = @"
+# cs.???? = currentstate, any variable on the status tab in the planner can be used.
+# Script = options are 
+# Script.Sleep(ms)
+# Script.ChangeParam(name,value)
+# Script.GetParam(name)
+# Script.ChangeMode(mode) - same as displayed in mode setup screen 'AUTO'
+# Script.WaitFor(string,timeout)
+# Script.SendRC(channel,pwm,sendnow)
+# 
+
 print 'Start Script'
 for chan in range(1,9):
     Script.SendRC(chan,1500,False)
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index 949283bc5b..1e0723f1f9 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -33,7 +33,7 @@ namespace ArdupilotMega.GCSViews
         bool sethome = false;
         bool polygongridmode = false;
         Hashtable param = new Hashtable();
-        public static Hashtable hashdefines = new Hashtable();
+
         public static List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
         static public Object thisLock = new Object();
         private TextBox textBox1;
@@ -85,7 +85,7 @@ namespace ArdupilotMega.GCSViews
                             System.Diagnostics.Debug.WriteLine(matchs[i].Groups[1].Value.ToString() + " = " + matchs[i].Groups[2].Value.ToString() + " = " + num.ToString());
                             try
                             {
-                                hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
+                             //   hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
                             }
                             catch (Exception) { }
                         }
@@ -95,10 +95,10 @@ namespace ArdupilotMega.GCSViews
                 sr.Close();
 
 
-                if (!hashdefines.ContainsKey("WP_START_BYTE"))
+               // if (!hashdefines.ContainsKey("WP_START_BYTE"))
                 {
                     MessageBox.Show("Your Ardupilot Mega project defines.h is Invalid");
-                    return false;
+                    //return false;
                 }
             }
             catch (Exception)
@@ -514,12 +514,6 @@ namespace ArdupilotMega.GCSViews
 
             Up.Image = global::ArdupilotMega.Properties.Resources.up;
             Down.Image = global::ArdupilotMega.Properties.Resources.down;
-
-            hashdefines.Clear();
-            if (File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h"))
-            {
-                readdefines(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h");
-            }
         }
 
         void updateCMDParams()
@@ -868,24 +862,6 @@ namespace ArdupilotMega.GCSViews
                     }
                 }
             }
-
-            DataGridViewTextBoxCell cell1;
-            cell1 = Commands.Rows[selectedrow].Cells[1] as DataGridViewTextBoxCell;
-
-            byte res;
-            if (byte.TryParse(cell1.Value.ToString(), out res))
-            {
-
-            }
-            else
-            {
-                try
-                {
-                    cell1.Value = (byte)(int)hashdefines[cell1.Value.ToString().ToUpper().Trim()];
-                }
-                catch { }
-            }
-
         }
 
         /// <summary>
@@ -1499,21 +1475,21 @@ namespace ArdupilotMega.GCSViews
                     }
                 }
 
-                string hold_alt = ((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist).ToString("0");
+                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
 
-                if (hold_alt != "-1")
+                if (!hold_alt.Equals("-1"))
                 {
                     TXT_DefaultAlt.Text = hold_alt;
                 }
 
-                TXT_WPRad.Text = ((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
+                TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
                 try
                 {
-                    TXT_loiterrad.Text = ((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
+                    TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
                 }
                 catch
                 {
-                    TXT_loiterrad.Text = ((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist).ToString("0");
+                    TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
                 }
                 CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);
 
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index 8b8c1e57e4..97dd323d1e 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -190,8 +190,23 @@ namespace ArdupilotMega.GCSViews
             // Fuel (gas & jet models)
             public float Model_fFuelConsumed;            // l
             public float Model_fFuelTankCapacity;        // l
+
+            // Ver > 3.81
+            // Screen size
+            public short Win_nScreenSizeDX; public short Win_nScreenSizeDY; // Screen Size, used to resize and reposition simulator window
+
+            // Model Orientation Matrix
+            public float Model_fAxisRight_x; public float Model_fAxisRight_y; public float Model_fAxisRight_z;
+            public float Model_fAxisFront_x; public float Model_fAxisFront_y; public float Model_fAxisFront_z;
+            public float Model_fAxisUp_x; public float Model_fAxisUp_y; public float Model_fAxisUp_z;
+
+            // Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
+            public float Model_fVel_Body_X; public float Model_fVel_Body_Y; public float Model_fVel_Body_Z;    // m/s    Model velocity in body coordinates
+            public float Model_fAngVel_Body_X; public float Model_fAngVel_Body_Y; public float Model_fAngVel_Body_Z; // rad/s  Model angular velocity in body coordinates
+            public float Model_fAccel_Body_X; public float Model_fAccel_Body_Y; public float Model_fAccel_Body_Z;  // m/s/s  Model acceleration in body coordinates
         };
 
+
         ~Simulation()
         {
             if (threadrun == 1)
@@ -558,7 +573,7 @@ namespace ArdupilotMega.GCSViews
                             RECVprocess(udpdata, recv, comPort);
                         }
                     }
-                    catch (Exception ex) { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
+                    catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
                     }
                 }
                 if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
@@ -885,7 +900,7 @@ namespace ArdupilotMega.GCSViews
                 //stream.Write(data, 0, receviedbytes);
                 //stream.Close();
             }
-            else if (receviedbytes == 582)
+            else if (receviedbytes == 658)
             {
                 aeroin = new TDataFromAeroSimRC();
 
@@ -902,19 +917,16 @@ namespace ArdupilotMega.GCSViews
                 //Console.WriteLine("degs r {0:0.000} p {1:0.000} y {2:0.000} rates {3:0.000} {4:0.000} {5:0.000}", att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
 
                 //Console.WriteLine("mine2 {0} {1} {2} ", answer.Item1 , answer.Item2 , answer.Item3 );
-                
 
+                //StreamWriter SW = new StreamWriter("aerosim.txt",true);
 
-                var answer = HIL.Utils.EarthRatesToBodyRatesMine(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
-                Console.WriteLine("\n{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
+                //SW.WriteLine(aeroin.Model_fRoll + "," + aeroin.Model_fPitch + "," + aeroin.Model_fHeading + "," + aeroin.Model_fAngVelX + "," + aeroin.Model_fAngVelY + "," + aeroin.Model_fAngVelZ);
 
-//                att.pitchspeed = (float)answer.Item1 * -deg2rad;
-  //              att.rollspeed = (float)answer.Item2 * -deg2rad;
-    //            att.yawspeed = (float)answer.Item3 * -deg2rad;
+                //SW.Close();
 
-                //att.pitchspeed = (float)(Math.Cos(att.yaw) * aeroin.Model_fAngVelX - Math.Sin(att.yaw) * aeroin.Model_fAngVelY);
-                //att.rollspeed = (float)(Math.Sin(att.yaw) * aeroin.Model_fAngVelX + Math.Cos(att.yaw) * aeroin.Model_fAngVelY);
-//                att.yawspeed = (float)-aeroin.Model_fAngVelZ * deg2rad;
+                att.pitchspeed = (float)aeroin.Model_fAngVel_Body_X;
+                att.rollspeed = (float)aeroin.Model_fAngVel_Body_Y;
+                att.yawspeed = (float)-aeroin.Model_fAngVel_Body_Z;
 
 
 #if MAVLINK10
@@ -922,18 +934,18 @@ namespace ArdupilotMega.GCSViews
 				#else
 				imu.usec = ((ulong)DateTime.Now.ToBinary());
 				#endif
-                imu.xgyro = (short)(aeroin.Model_fAngVelX * 1000); // roll - yes
+                imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
                 //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
-                imu.ygyro = (short)(aeroin.Model_fAngVelY * 1000); // pitch - yes
+                imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
                 //imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
-                imu.zgyro = (short)(aeroin.Model_fAngVelZ * 1000);
+                imu.zgyro = (short)(aeroin.Model_fAngVel_Body_Z * 1000);
                 //imu.zmag = 0;
 
                 YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]
 
-                imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccelX) * 1000); // pitch
-                imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccelY) * 1000); // roll
-                imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccelZ) * 1000);
+                imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccel_Body_X) * 1000); // pitch
+                imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
+                imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
 
 //                Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
 
@@ -1443,7 +1455,7 @@ namespace ArdupilotMega.GCSViews
                     Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
                 }
 
-                if (CHK_quad.Checked && false)
+                if (CHK_quad.Checked)
                 {
                     //MainV2.cs.ch1out = 1100; 
                     //MainV2.cs.ch2out = 1100;
@@ -1461,6 +1473,10 @@ namespace ArdupilotMega.GCSViews
                     Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
                     Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
 
+                }
+                else
+                {
+
                 }
 
                 try
@@ -1596,20 +1612,12 @@ namespace ArdupilotMega.GCSViews
 
         private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
         {
-            if (RAD_softXplanes.Checked && RAD_softFlightGear.Checked)
-            {
-                RAD_softFlightGear.Checked = false;
-                RAD_aerosimrc.Checked = false;
-            }
+
         }
 
         private void RAD_softFlightGear_CheckedChanged(object sender, EventArgs e)
         {
-            if (RAD_softFlightGear.Checked && RAD_softXplanes.Checked)
-            {
-                RAD_softXplanes.Checked = false;
-                RAD_aerosimrc.Checked = false;
-            }
+
         }
 
         private void CHKREV_roll_CheckedChanged(object sender, EventArgs e)
@@ -2067,11 +2075,7 @@ namespace ArdupilotMega.GCSViews
 
         private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
         {
-            if (RAD_aerosimrc.Checked && RAD_softXplanes.Checked)
-            {
-                RAD_softXplanes.Checked = false;
-                RAD_softFlightGear.Checked = false;
-            }
+
         }
 
         private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
diff --git a/Tools/ArdupilotMegaPlanner/HIL/Utils.cs b/Tools/ArdupilotMegaPlanner/HIL/Utils.cs
index aa00b6c8cd..4d55cd86c3 100644
--- a/Tools/ArdupilotMegaPlanner/HIL/Utils.cs
+++ b/Tools/ArdupilotMegaPlanner/HIL/Utils.cs
@@ -79,16 +79,16 @@ namespace ArdupilotMega.HIL
         }
 
         public static Tuple<double, double, double> EarthRatesToBodyRatesRyan(double roll, double pitch, double yaw,
-                         double rollRate, double pitchRate, double yawRate)
+                         double x, double y, double z)
         {
             // thanks to ryan beall
 
             var phi = radians(roll);
             var theta = radians(pitch);
-            var psi = radians(yaw);
-            var Po = radians(pitchRate);
-            var Ro = radians(yawRate);
-            var Qo = radians(rollRate);
+            var psi = radians((360 - yaw) * 1.0);
+            var Po = radians(x);
+            var Qo = radians(y);
+            var Ro = radians(-z);
 
             var P = Po * cos(psi) * cos(theta) - Ro * sin(theta) + Qo * cos(theta) * sin(psi);
 
@@ -96,6 +96,12 @@ namespace ArdupilotMega.HIL
 
             var R = Po * (sin(phi) * sin(psi) + cos(phi) * cos(psi) * sin(theta)) - Qo * (cos(psi) * sin(phi) - cos(phi) * sin(psi) * sin(theta)) + Ro * cos(phi) * cos(theta);
 
+
+//            P = 0;
+            //Q = 0;
+            //R = 0;
+
+
             return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
         }
 
diff --git a/Tools/ArdupilotMegaPlanner/HUD.cs b/Tools/ArdupilotMegaPlanner/HUD.cs
index bad8ef9f75..cce7c32b16 100644
--- a/Tools/ArdupilotMegaPlanner/HUD.cs
+++ b/Tools/ArdupilotMegaPlanner/HUD.cs
@@ -42,6 +42,8 @@ namespace hud
 
         public bool opengl { get { return base.UseOpenGL; } set { base.UseOpenGL = value; } }
 
+        bool started = false;
+
         public HUD()
         {
             if (this.DesignMode)
@@ -50,12 +52,12 @@ namespace hud
                 //return;
             }
 
-            InitializeComponent();
+            //InitializeComponent();
 
             graphicsObject = this;
             graphicsObjectGDIP = Graphics.FromImage(objBitmap);
         }
-
+        /*
         private void InitializeComponent()
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
@@ -68,33 +70,33 @@ namespace hud
             resources.ApplyResources(this, "$this");
             this.ResumeLayout(false);
 
-        }
+        }*/
 
-        float _roll;
-        float _navroll;
-        float _pitch;
-        float _navpitch;
-        float _heading;
-        float _targetheading;
-        float _alt;
-        float _targetalt;
-        float _groundspeed;
-        float _airspeed;
-        float _targetspeed;
-        float _batterylevel;
-        float _batteryremaining;
-        float _gpsfix;
-        float _gpshdop;
-        float _disttowp;
-        float _groundcourse;
-        float _xtrack_error;
-        float _turnrate;
-        float _verticalspeed;
-        float _linkqualitygcs;
+        float _roll = 0;
+        float _navroll = 0;
+        float _pitch = 0;
+        float _navpitch = 0;
+        float _heading = 0;
+        float _targetheading = 0;
+        float _alt = 0;
+        float _targetalt = 0;
+        float _groundspeed = 0;
+        float _airspeed = 0;
+        float _targetspeed = 0;
+        float _batterylevel = 0;
+        float _batteryremaining = 0;
+        float _gpsfix = 0;
+        float _gpshdop = 0;
+        float _disttowp = 0;
+        float _groundcourse = 0;
+        float _xtrack_error = 0;
+        float _turnrate = 0;
+        float _verticalspeed = 0;
+        float _linkqualitygcs = 0;
         DateTime _datetime;
         string _mode = "Manual";
-        int _wpno;
-
+        int _wpno = 0;
+        
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
         public float roll { get { return _roll; } set { if (_roll != value) { _roll = value; this.Invalidate(); } } }
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
@@ -146,6 +148,7 @@ namespace hud
 
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
         public int status { get; set; }
+        
         int statuslast = 0;
         DateTime armedtimer = DateTime.MinValue;
 
@@ -180,9 +183,6 @@ namespace hud
 
         protected override void OnLoad(EventArgs e)
         {
-            if (this.DesignMode) 
-                return;
-
             if (opengl)
             {
                 try
@@ -236,12 +236,17 @@ namespace hud
                 }
                 catch { }
             }
+
+            started = true;
         }
 
         protected override void OnPaint(PaintEventArgs e)
         {
             //GL.Enable(EnableCap.AlphaTest)
 
+            if (!started)
+                return;
+
             if (this.DesignMode)
             {
                 e.Graphics.Clear(this.BackColor);
@@ -691,14 +696,14 @@ namespace hud
 
                 graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
 
-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);
 
                 int fontsize = this.Height / 30; // = 10
                 int fontoffset = fontsize - 10;
 
                 float every5deg = -this.Height / 60;
 
-                float pitchoffset = -pitch * every5deg;
+                float pitchoffset = -_pitch * every5deg;
 
                 int halfwidth = this.Width / 2;
                 int halfheight = this.Height / 2;
@@ -742,7 +747,7 @@ namespace hud
                 graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));
 
                 graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);
 
                 // draw armed
 
@@ -776,7 +781,7 @@ namespace hud
                 for (int a = -90; a <= 90; a += 5)
                 {
                     // limit to 40 degrees
-                    if (a >= pitch - 34 && a <= pitch + 25)
+                    if (a >= _pitch - 34 && a <= _pitch + 25)
                     {
                         if (a % 10 == 0)
                         {
@@ -804,7 +809,7 @@ namespace hud
 
                 graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
 
-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);
 
                 Point[] pointlist = new Point[3];
 
@@ -816,7 +821,7 @@ namespace hud
                 pointlist[1] = new Point(-lengthlong, -lengthlong - extra);
                 pointlist[2] = new Point(lengthlong, -lengthlong - extra);
 
-                if (Math.Abs(roll) > 45)
+                if (Math.Abs(_roll) > 45)
                 {
                     redPen.Width = 10;
                 }
@@ -870,30 +875,30 @@ namespace hud
                 graphicsObject.DrawLine(whitePen, headbg.Left + 5, headbg.Bottom - 5, headbg.Width - 5, headbg.Bottom - 5);
 
                 float space = (headbg.Width - 10) / 60.0f;
-                int start = (int)Math.Round((heading - 30),1);
+                int start = (int)Math.Round((_heading - 30),1);
 
                 // draw for outside the 60 deg
-                if (targetheading < start)
+                if (_targetheading < start)
                 {
                     greenPen.Width = 6;
                     graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 0, headbg.Bottom, headbg.Left + 5 + space * (0), headbg.Top);
                 }
-                if (targetheading > heading + 30)
+                if (_targetheading > _heading + 30)
                 {
                     greenPen.Width = 6;
                     graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 60, headbg.Bottom, headbg.Left + 5 + space * (60), headbg.Top);
                 }
 
-                for (int a = start; a <= heading + 30; a += 1)
+                for (int a = start; a <= _heading + 30; a += 1)
                 {
                     // target heading
-                    if (((int)(a + 360) % 360) == (int)targetheading)
+                    if (((int)(a + 360) % 360) == (int)_targetheading)
                     {
                         greenPen.Width = 6;
                         graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
                     }
 
-                    if (((int)(a + 360) % 360) == (int)groundcourse)
+                    if (((int)(a + 360) % 360) == (int)_groundcourse)
                     {
                         blackPen.Width = 6;
                         graphicsObject.DrawLine(blackPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
@@ -940,7 +945,7 @@ namespace hud
                 float xtspace = this.Width / 10.0f / 3.0f;
                 int pad = 10;
 
-                float myxtrack_error = xtrack_error;
+                float myxtrack_error = _xtrack_error;
 
                 myxtrack_error = Math.Min(myxtrack_error, 40);
                 myxtrack_error = Math.Max(myxtrack_error, -40);
@@ -977,7 +982,7 @@ namespace hud
 
                 graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 + xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
 
-                float myturnrate = turnrate;
+                float myturnrate = _turnrate;
                 float trwidth = (this.Width / 10 + xtspace * 2 - xtspace / 2) - (this.Width / 10 - xtspace * 2 - xtspace / 2);
 
                 float range = 12;
@@ -1023,21 +1028,21 @@ namespace hud
 
                 int viewrange = 26;
 
-                float speed = airspeed;
+                float speed = _airspeed;
                 if (speed == 0)
-                    speed = groundspeed;
+                    speed = _groundspeed;
 
                 space = (scrollbg.Height) / (float)viewrange;
                 start = ((int)speed - viewrange / 2);
 
-                if (start > targetspeed)
+                if (start > _targetspeed)
                 {
                     greenPen.Color = Color.FromArgb(128, greenPen.Color);
                     greenPen.Width = 6;
                     graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
                     greenPen.Color = Color.FromArgb(255, greenPen.Color);
                 }
-                if ((speed + viewrange / 2) < targetspeed)
+                if ((speed + viewrange / 2) < _targetspeed)
                 {
                     greenPen.Color = Color.FromArgb(128, greenPen.Color);
                     greenPen.Width = 6;
@@ -1047,7 +1052,7 @@ namespace hud
 
                 for (int a = (int)start; a <= (speed + viewrange / 2); a += 1)
                 {
-                    if (a == (int)targetspeed && targetspeed != 0)
+                    if (a == (int)_targetspeed && _targetspeed != 0)
                     {
                         greenPen.Width = 6;
                         graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
@@ -1068,8 +1073,8 @@ namespace hud
 
                 // extra text data
 
-                drawstring(graphicsObject, "AS " + airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
-                drawstring(graphicsObject, "GS " + groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
+                drawstring(graphicsObject, "AS " + _airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
+                drawstring(graphicsObject, "GS " + _groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
 
                 //drawstring(e,, new Font("Arial", fontsize + 2), whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
 
@@ -1099,16 +1104,16 @@ namespace hud
                 viewrange = 26;
 
                 space = (scrollbg.Height) / (float)viewrange;
-                start = ((int)alt - viewrange / 2);
+                start = ((int)_alt - viewrange / 2);
 
-                if (start > targetalt)
+                if (start > _targetalt)
                 {
                     greenPen.Color = Color.FromArgb(128, greenPen.Color);
                     greenPen.Width = 6;
                     graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
                     greenPen.Color = Color.FromArgb(255, greenPen.Color);
                 }
-                if ((alt + viewrange / 2) < targetalt)
+                if ((_alt + viewrange / 2) < _targetalt)
                 {
                     greenPen.Color = Color.FromArgb(128, greenPen.Color);
                     greenPen.Width = 6;
@@ -1116,9 +1121,9 @@ namespace hud
                     greenPen.Color = Color.FromArgb(255, greenPen.Color);
                 }
 
-                for (int a = (int)start; a <= (alt + viewrange / 2); a += 1)
+                for (int a = (int)start; a <= (_alt + viewrange / 2); a += 1)
                 {
-                    if (a == Math.Round(targetalt) && targetalt != 0)
+                    if (a == Math.Round(_targetalt) && _targetalt != 0)
                     {
                         greenPen.Width = 6;
                         graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
@@ -1148,10 +1153,10 @@ namespace hud
 
                 viewrange = 12;
 
-                verticalspeed = Math.Min(viewrange / 2, verticalspeed);
-                verticalspeed = Math.Max(viewrange / -2, verticalspeed);
+                _verticalspeed = Math.Min(viewrange / 2, _verticalspeed);
+                _verticalspeed = Math.Max(viewrange / -2, _verticalspeed);
 
-                float scaledvalue = verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
+                float scaledvalue = _verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
 
                 float linespace = (float)1 / -viewrange * (scrollbg.Bottom - scrollbg.Top);
 
@@ -1199,53 +1204,53 @@ namespace hud
                 graphicsObject.ResetTransform();
                 graphicsObject.TranslateTransform(0, this.Height / 2);
 
-                drawstring(graphicsObject, ((int)alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
+                drawstring(graphicsObject, ((int)_alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
                 graphicsObject.ResetTransform();
 
                 // mode and wp dist and wp
 
-                drawstring(graphicsObject, mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
-                drawstring(graphicsObject, (int)disttowp + ">" + wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
+                drawstring(graphicsObject, _mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
+                drawstring(graphicsObject, (int)_disttowp + ">" + _wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
 
                 graphicsObject.DrawLine(greenPen, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize) - 2 - 20);
                 graphicsObject.DrawLine(greenPen, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 15, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize) - 2 - 20);
                 graphicsObject.DrawLine(greenPen, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 10, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize ) - 2 - 20);
 
-                drawstring(graphicsObject, linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
-                if (linkqualitygcs == 0)
+                drawstring(graphicsObject, _linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
+                if (_linkqualitygcs == 0)
                 {
                     graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2);
 
                     graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
                 }
-                drawstring(graphicsObject, datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
+                drawstring(graphicsObject, _datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
 
 
                 // battery
 
                 graphicsObject.ResetTransform();
 
-                drawstring(graphicsObject, resources.GetString("Bat"), font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
-                drawstring(graphicsObject, batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
-                drawstring(graphicsObject, batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, "Bat", font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, _batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, _batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
 
                 // gps
 
                 string gps = "";
 
-                if (gpsfix == 0)
+                if (_gpsfix == 0)
                 {
                     gps = ("GPS: No GPS");
                 }
-                else if (gpsfix == 1)
+                else if (_gpsfix == 1)
                 {
                     gps = ("GPS: No Fix");
                 }
-                else if (gpsfix == 2)
+                else if (_gpsfix == 2)
                 {
                     gps = ("GPS: 3D Fix");
                 }
-                else if (gpsfix == 3)
+                else if (_gpsfix == 3)
                 {
                     gps = ("GPS: 3D Fix");
                 }
@@ -1462,8 +1467,7 @@ namespace hud
                 return;
 
             pth.Reset();
-
-
+            
             if (text != null)
                 pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
 
@@ -1471,8 +1475,12 @@ namespace hud
             // this uses lots of cpu time
 
             //e.SmoothingMode = SmoothingMode.HighSpeed;
+
+            if (e == null || P == null || pth == null || pth.PointCount == 0)
+                return;
             
-            e.DrawPath(P, pth);
+            if (!ArdupilotMega.MainV2.MONO)
+                e.DrawPath(P, pth);
 
             //Draw the face
 
@@ -1507,7 +1515,7 @@ namespace hud
 
         protected override void OnResize(EventArgs e)
         {
-            if (DesignMode)
+            if (DesignMode || !started)
                 return;
             this.Height = (int)(this.Width / 1.333f);
             base.OnResize(e);
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 53a043d344..d7d0a6def3 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -591,11 +591,11 @@ namespace ArdupilotMega
 
             temp.Dock = DockStyle.Fill;
 
-            MyView.Controls.Add(temp);
-
             temp.ForeColor = Color.White;
 
             temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
+
+            MyView.Controls.Add(temp);
         }
 
         private void MenuTerminal_Click(object sender, EventArgs e)
@@ -1109,6 +1109,8 @@ namespace ArdupilotMega
 
                             GCSViews.FlightData.myhud.Invalidate();
                         }
+
+                        GC.Collect();
                     }
 
                     if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
@@ -1127,7 +1129,10 @@ namespace ArdupilotMega
                     }
 
                     if (!comPort.BaseStream.IsOpen || givecomport == true)
+                    {
+                        System.Threading.Thread.Sleep(100);
                         continue;
+                    }
 
                     if (heatbeatsend.Second != DateTime.Now.Second)
                     {
diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs
index 3228bf1047..9cd29cbabe 100644
--- a/Tools/ArdupilotMegaPlanner/Program.cs
+++ b/Tools/ArdupilotMegaPlanner/Program.cs
@@ -29,22 +29,6 @@ namespace ArdupilotMega
 
             //Common.linearRegression();
 
-            var answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 0, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1 , answer.Item2 , answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 45, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 90, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 135, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            //Console.ReadLine();
-
-            //return;
-
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
             try
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index d27e06aa12..7ac34587f4 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.28")]
+[assembly: AssemblyFileVersion("1.1.29")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
index 0c780b62a5..570d36fc41 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@@ -284,6 +284,9 @@ namespace ArdupilotMega.Setup
 
         private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
         {
+            int monosux = 0;
+            monosux *= 5;
+
             if (tabControl1.SelectedTab == tabRadioIn)
             {
                 startup = true;
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/defines.h b/Tools/ArdupilotMegaPlanner/bin/Release/defines.h
deleted file mode 100644
index 74760c243c..0000000000
--- a/Tools/ArdupilotMegaPlanner/bin/Release/defines.h
+++ /dev/null
@@ -1,346 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-// Internal defines, don't edit and expect things to work
-// -------------------------------------------------------
-
-#define DEBUG 0
-#define LOITER_RANGE 30 // for calculating power outside of loiter radius
-
-// GPS baud rates
-// --------------
-#define NO_GPS		38400
-#define NMEA_GPS	38400
-#define EM406_GPS	57600
-#define UBLOX_GPS	38400
-#define ARDU_IMU	38400
-#define MTK_GPS		38400
-#define SIM_GPS		38400
-
-// GPS type codes - use the names, not the numbers
-#define GPS_PROTOCOL_NONE	-1
-#define GPS_PROTOCOL_NMEA	0
-#define GPS_PROTOCOL_SIRF	1
-#define GPS_PROTOCOL_UBLOX	2
-#define GPS_PROTOCOL_IMU	3
-#define GPS_PROTOCOL_MTK	4
-
-// Radio channels
-// Note channels are from 0!  
-//
-// XXX these should be CH_n defines from RC.h at some point.
-#define CH_ROLL 0
-#define CH_PITCH 1
-#define CH_THROTTLE 2
-#define CH_RUDDER 3
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
-
-#define WP_START_BYTE 0x130	// where in memory home WP is stored + all other WP
-#define WP_SIZE 14
-
-// GCS enumeration
-#define GCS_PROTOCOL_STANDARD	0	// standard APM protocol
-#define GCS_PROTOCOL_SPECIAL	1	// special test protocol (?)
-#define GCS_PROTOCOL_LEGACY		2	// legacy ArduPilot protocol
-#define GCS_PROTOCOL_XPLANE		3	// X-Plane HIL simulation
-#define GCS_PROTOCOL_IMU		4	// ArdiPilot IMU output
-#define GCS_PROTOCOL_JASON		5	// Jason's special secret GCS protocol
-#define GCS_PROTOCOL_DEBUGTERMINAL		6	// Text-based interactive GCS
-#define GCS_PROTOCOL_NONE		-1	// No GCS output
-
-// PID enumeration
-// ---------------
-#define CASE_SERVO_ROLL 0
-#define CASE_SERVO_PITCH 1
-#define CASE_SERVO_RUDDER 2
-#define CASE_NAV_ROLL 3
-#define CASE_NAV_PITCH_ASP 4
-#define CASE_NAV_PITCH_ALT 5
-#define CASE_TE_THROTTLE 6
-#define CASE_ALT_THROTTLE 7
-
-// Feedforward cases
-// ----------------
-#define CASE_PITCH_COMP 0
-#define CASE_RUDDER_MIX 1
-#define CASE_P_TO_T 2
-#define CASE_T_TO_P 3
-
-// Auto Pilot modes
-// ----------------
-#define MANUAL 0
-#define CIRCLE 1			 // When flying sans GPS, and we loose the radio, just circle
-#define STABILIZE 2
-
-#define FLY_BY_WIRE_A 5		// Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
-#define FLY_BY_WIRE_B 6		// Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
-							// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0
-#define AUTO 10
-#define RTL 11
-#define LOITER 12
-#define TAKEOFF 13
-#define LAND 14
-
-
-// Command IDs - Must
-#define CMD_BLANK 0x00 // there is no command stored in the mem location requested
-#define CMD_WAYPOINT 0x10
-#define CMD_LOITER 0x11
-#define CMD_LOITER_N_TURNS 0x12
-#define CMD_LOITER_TIME 0x13
-#define CMD_RTL 0x14
-#define CMD_LAND 0x15
-#define CMD_TAKEOFF 0x16
-
-// Command IDs - May
-#define CMD_DELAY 0x20
-#define CMD_CLIMB 0x21 // NOT IMPLEMENTED
-#define CMD_LAND_OPTIONS 0x22			// pitch in deg, airspeed  m/s, throttle %, track WP 1 or 0 
-
-// Command IDs - Now
-//#define CMD_AP_MODE 0x30
-#define CMD_RESET_INDEX 0x31
-#define CMD_GOTO_INDEX 0x32	// NOT IMPLEMENTED
-#define CMD_GETVAR_INDEX 0x33
-#define CMD_SENDVAR_INDEX 0x34
-#define CMD_TELEMETRY 0x35
-
-#define CMD_THROTTLE_CRUISE 0x40
-#define CMD_AIRSPEED_CRUISE 0x41
-#define CMD_RESET_HOME 0x44
-
-#define CMD_KP_GAIN 0x60
-#define CMD_KI_GAIN 0x61
-#define CMD_KD_GAIN 0x62
-#define CMD_KI_MAX 0x63
-#define CMD_KFF_GAIN 0x64
-
-#define CMD_RADIO_TRIM 0x70
-#define CMD_RADIO_MAX 0x71
-#define CMD_RADIO_MIN 0x72
-#define CMD_RADIO_MIN 0x72
-#define CMD_ELEVON_TRIM 0x73
-
-#define CMD_INDEX 0x75   // sets the current Must index
-#define CMD_REPEAT 0x80
-#define CMD_RELAY 0x81
-#define CMD_SERVO 0x82	// move servo N to PWM value
-
-//repeating events
-#define NO_REPEAT 0
-#define CH_4_TOGGLE 1
-#define CH_5_TOGGLE 2
-#define CH_6_TOGGLE 3
-#define CH_7_TOGGLE 4
-#define RELAY_TOGGLE 5
-#define STOP_REPEAT 10
-
-//  GCS Message ID's
-#define MSG_ACKNOWLEDGE 0x00
-#define MSG_HEARTBEAT 0x01
-#define MSG_ATTITUDE 0x02
-#define MSG_LOCATION 0x03
-#define MSG_PRESSURE 0x04
-#define MSG_STATUS_TEXT 0x05
-#define MSG_PERF_REPORT 0x06
-#define MSG_COMMAND 0x22
-#define MSG_VALUE 0x32
-#define MSG_PID 0x42
-#define MSG_TRIMS 0x50
-#define MSG_MINS 0x51
-#define MSG_MAXS 0x52
-#define MSG_IMU_OUT 0x53
-
-#define SEVERITY_LOW 1
-#define SEVERITY_MEDIUM 2
-#define SEVERITY_HIGH 3
-#define SEVERITY_CRITICAL 4
-
-//  Logging parameters
-#define LOG_ATTITUDE_MSG		0x01
-#define LOG_GPS_MSG				0x02
-#define LOG_MODE_MSG			0X03
-#define LOG_CONTROL_TUNING_MSG	0X04
-#define LOG_NAV_TUNING_MSG		0X05
-#define LOG_PERFORMANCE_MSG		0X06
-#define LOG_RAW_MSG				0x07
-#define LOG_CMD_MSG				0x08
-#define LOG_STARTUP_MSG			0x09
-#define TYPE_AIRSTART_MSG		0x00
-#define TYPE_GROUNDSTART_MSG	0x01
-
-#define MASK_LOG_ATTITUDE_FAST 0
-#define MASK_LOG_ATTITUDE_MED 2
-#define MASK_LOG_GPS 4
-#define MASK_LOG_PM 8
-#define MASK_LOG_CTUN 16
-#define MASK_LOG_NTUN 32
-#define MASK_LOG_MODE 64
-#define MASK_LOG_RAW 128
-#define MASK_LOG_CMD 256
-
-// Yaw modes
-#define YAW_MODE_COORDINATE_TURNS 0
-#define YAW_MODE_HOLD_HEADING 1
-#define YAW_MODE_SLIP 2
-
-// Waypoint Modes
-// ----------------
-#define ABS_WP 0
-#define REL_WP 1
-
-// Command Queues
-// ---------------
-#define COMMAND_MUST 0
-#define COMMAND_MAY 1 
-#define COMMAND_NOW 2 
-
-// Events
-// ------
-#define EVENT_WILL_REACH_WAYPOINT 1
-#define EVENT_SET_NEW_WAYPOINT_INDEX 2
-#define EVENT_LOADED_WAYPOINT 3
-#define EVENT_LOOP 4
-
-//GPS_fix
-#define VALID_GPS 0x00
-#define BAD_GPS 0x01
-#define FAILED_GPS 0x03
-
-
-
-#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
-
-#define	AIRSPEED_CH 7			// The external ADC channel for the airspeed sensor
-#define BATTERY_PIN1 0		        // These are the pins for the voltage dividers
-#define BATTERY_PIN2 1
-#define BATTERY_PIN3 2
-#define BATTERY_PIN4 3
-#define RELAY_PIN 47
-
-// Hardware Parameters
-#define SLIDE_SWITCH_PIN 40
-#define PUSHBUTTON_PIN 41
-
-#define A_LED_PIN 37			//36 = B,	37 = A,	35 = C
-#define B_LED_PIN 36
-#define C_LED_PIN 35
-
-#define HOLD_ALT_ABOVE_HOME 8 // bitmask value
-
-// IMU Parameters
-
-#define ADC_CONSTRAINT 900
-#define TRUE 1
-#define FALSE 0
-#define ADC_WARM_CYCLES 200
-#define SPEEDFILT 400			// centimeters/second
-
-#define GYRO_TEMP_CH 3			// The ADC channel reading the gyro temperature
-
-// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
-// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
-// Tested value : 418
-#define GRAVITY 418 //this equivalent to 1G in the raw data coming from the accelerometer 
-#define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square
-
-#define ToRad(x) (x*0.01745329252)	// *pi/180
-#define ToDeg(x) (x*57.2957795131)	// *180/pi
-
-// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
-// Tested values : 0.4026, ?, 0.4192
-#define Gyro_Gain_X 0.4 //X axis Gyro gain
-#define Gyro_Gain_Y 0.41 //Y axis Gyro gain
-#define Gyro_Gain_Z 0.41 //Z axis Gyro gain
-#define Gyro_Scaled_X(x) x*ToRad(Gyro_Gain_X) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Y(x) x*ToRad(Gyro_Gain_Y) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Z(x) x*ToRad(Gyro_Gain_Z) //Return the scaled ADC raw data of the gyro in radians for second
-
-#define Kp_ROLLPITCH 0.0014	 		// Pitch&Roll Drift Correction Proportional Gain
-#define Ki_ROLLPITCH 0.0000003 		// Pitch&Roll Drift Correction Integrator Gain
-#define Kp_YAW 0.8		 			// Yaw Drift Correction Porportional Gain	
-#define Ki_YAW 0.00004 				// Yaw Drift CorrectionIntegrator Gain
-
-/*For debugging purposes*/
-#define OUTPUTMODE 1	//If value = 1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 Accel only data
-
-
-#define EEPROM_MAX_ADDR		4096
-
-// Radio setup
-#define EE_TRIM 0x00
-#define EE_MIN 0x10
-#define EE_MAX 0x20
-#define EE_ELEVON1_TRIM 0x30
-#define EE_ELEVON2_TRIM 0x32
-
-// user gains
-#define EE_XTRACK_GAIN 0x34
-#define EE_XTRACK_ANGLE 0x36
-#define EE_ALT_MIX 0x3B
-#define EE_HEAD_MAX 0x38
-#define EE_PITCH_MAX 0x39
-#define EE_PITCH_MIN 0x3A
-#define EE_KP 0x40
-#define EE_KI 0x60
-#define EE_KD 0x80
-#define EE_IMAX 0xA0
-#define EE_KFF 0xC0
-#define EE_AN_OFFSET 0xE0
-#define EE_PITCH_TARGET 0x127
-
-//mission specific
-#define EE_CONFIG 0X0F8
-#define EE_WP_MODE 0x0F9
-#define EE_YAW_MODE 0x0FA	// not used
-#define EE_WP_TOTAL 0x0FB
-#define EE_WP_INDEX 0x0FC
-#define EE_WP_RADIUS 0x0FD
-#define EE_LOITER_RADIUS 0x0FE
-#define EE_ALT_HOLD_HOME 0x0FF
-
-// user configs
-#define EE_AIRSPEED_CRUISE 0x103
-#define EE_AIRSPEED_RATIO 0x104
-#define EE_AIRSPEED_FBW_MIN 0x108
-#define EE_AIRSPEED_FBW_MAX 0x109
-#define EE_THROTTLE_MIN 0x10A
-#define EE_THROTTLE_CRUISE 0x10B
-#define EE_THROTTLE_MAX 0x10C
-#define EE_THROTTLE_FAILSAFE 0x10D
-#define EE_THROTTLE_FS_VALUE 0x10E
-#define EE_THROTTLE_FAILSAFE_ACTION 0x110
-#define EE_FLIGHT_MODE_CHANNEL 0x112
-#define EE_AUTO_TRIM 0x113
-#define EE_LOG_BITMASK 0x114
-#define EE_REVERSE_SWITCH 0x120
-#define EE_FLIGHT_MODES 0x121
-
-// sensors
-#define EE_ABS_PRESS_GND 0x116
-#define EE_GND_TEMP 0x11A
-#define EE_GND_ALT 0x11C
-#define EE_AP_OFFSET 0x11E
-
-// log
-#define EE_LAST_LOG_PAGE 0xE00
-#define EE_LAST_LOG_NUM 0xE02
-#define EE_LOG_1_START 0xE04
-
-// bits in log_bitmask
-#define LOGBIT_ATTITUDE_FAST	(1<<0)
-#define LOGBIT_ATTITUDE_MED		(1<<1)
-#define LOGBIT_GPS				(1<<2)
-#define LOGBIT_PM				(1<<3)
-#define LOGBIT_CTUN				(1<<4)
-#define LOGBIT_NTUN				(1<<5)
-#define LOGBIT_MODE				(1<<6)
-#define LOGBIT_RAW				(1<<7)
-#define LOGBIT_CMD				(1<<8)
-

From 1dcd50e3be4c01dc5e36b6a2771e27ff904fc36f Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Fri, 27 Jan 2012 07:39:01 -0800
Subject: [PATCH 09/12] ArduCopter Tri: fix for enable_out of yaw servo,
 defined yaw servo for APM2

---
 ArduCopter/config_channels.h | 3 +--
 ArduCopter/motors_tri.pde    | 1 +
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config_channels.h b/ArduCopter/config_channels.h
index fe6677e42a..b3a1e7263d 100644
--- a/ArduCopter/config_channels.h
+++ b/ArduCopter/config_channels.h
@@ -49,8 +49,7 @@
 //
 //
 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-/* TODO find out correct channel for APM2 TRI_YAW */
-# define CH_TRI_YAW   (-1)
+# define CH_TRI_YAW   CH_7
 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
 # define CH_TRI_YAW   CH_7
 #endif
diff --git a/ArduCopter/motors_tri.pde b/ArduCopter/motors_tri.pde
index dda4ba7638..3fbdb49e8f 100644
--- a/ArduCopter/motors_tri.pde
+++ b/ArduCopter/motors_tri.pde
@@ -13,6 +13,7 @@ static void motors_output_enable()
   APM_RC.enable_out(MOT_1);
   APM_RC.enable_out(MOT_2);
   APM_RC.enable_out(MOT_4);
+  APM_RC.enable_out(CH_TRI_YAW);
 }
 
 

From 122623f64bc8779331a92d794feacc7732b7b442 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 28 Jan 2012 09:27:16 +0900
Subject: [PATCH 10/12] OpticalFlow - added OF_LOITER flightmode

---
 ArduCopter/ArduCopter.pde | 11 +++--------
 ArduCopter/config.h       | 12 ++++++++++++
 ArduCopter/defines.h      |  3 ++-
 ArduCopter/system.pde     | 13 ++++++++++---
 4 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 193a112b8a..58f240169a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -292,7 +292,8 @@ static const char* flight_mode_strings[] = {
 	"RTL",
 	"CIRCLE",
 	"POSITION",
-	"LAND"};
+	"LAND",
+	"OF_LOITER"};
 
 /* Radio values
 		Channel assignments
@@ -1440,15 +1441,9 @@ void update_roll_pitch_mode(void)
 			if(do_simple && new_radio_frame){
 				update_simple_mode();
 			}
-
-			// in this mode, nav_roll and nav_pitch = the iterm
-			#if WIND_COMP_STAB == 1
-			g.rc_1.servo_out = get_stabilize_roll(get_of_roll(g.rc_1.control_in + nav_roll));
-			g.rc_2.servo_out = get_stabilize_pitch(get_of_pitch(g.rc_2.control_in + nav_pitch));
-			#else
+			// mix in user control with optical flow
 			g.rc_1.servo_out = get_stabilize_roll(get_of_roll(g.rc_1.control_in));
 			g.rc_2.servo_out = get_stabilize_pitch(get_of_pitch(g.rc_2.control_in));
-			#endif
 			break;
 	}
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index a483e98a93..4d07062990 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -503,6 +503,18 @@
 # define SUPER_SIMPLE		DISABLED
 #endif
 
+// LOITER Mode
+#ifndef OF_LOITER_YAW
+# define OF_LOITER_YAW 		YAW_HOLD
+#endif
+
+#ifndef OF_LOITER_RP
+# define OF_LOITER_RP 			ROLL_PITCH_STABLE_OF
+#endif
+
+#ifndef OF_LOITER_THR
+# define OF_LOITER_THR			THROTTLE_HOLD
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Attitude Control
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index c0121912fb..9ca248da84 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -122,7 +122,8 @@
 #define CIRCLE 7			// AUTO control
 #define POSITION 8			// AUTO control
 #define LAND 9				// AUTO control
-#define NUM_MODES 10
+#define OF_LOITER 10			// Hold a single location using optical flow sensor
+#define NUM_MODES 11
 
 #define INITIALISING 9     // in startup routines
 
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index bc599db619..d4ad437754 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -408,13 +408,13 @@ static void set_mode(byte mode)
 	// if we don't have GPS lock
 	if(home_is_set == false){
 		// our max mode should be
-		if (mode > ALT_HOLD)
+		if (mode > ALT_HOLD && mode != OF_LOITER)
 			mode = STABILIZE;
 	}
 
-	// nothing but Loiter for OptFlow only
+	// nothing but OF_LOITER for OptFlow only
 	if (g.optflow_enabled && GPS_enabled == false){
-		if (mode > ALT_HOLD && mode != LOITER)
+		if (mode > ALT_HOLD && mode != OF_LOITER)
 			mode = STABILIZE;
 	}
 
@@ -520,6 +520,13 @@ static void set_mode(byte mode)
 			do_RTL();
 			break;
 
+		case OF_LOITER:
+			yaw_mode 		= OF_LOITER_YAW;
+			roll_pitch_mode = OF_LOITER_RP;
+			throttle_mode 	= OF_LOITER_THR;
+			set_next_WP(&current_loc);
+			break;
+
 		default:
 			break;
 	}

From f3a95ff3cb9f46f0858279aa6cca568a04492580 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 28 Jan 2012 10:13:58 +0900
Subject: [PATCH 11/12] Arducopter - Tri - move yaw servo
 (channel7/motor7/CH_TRI_YAW) to mid point on startup

---
 ArduCopter/radio.pde | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 5f37ee6a0f..91c8c92b61 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -100,8 +100,8 @@ static void init_rc_out()
 
 void output_min()
 {
-  motors_output_enable();
-    #if FRAME_CONFIG ==	HELI_FRAME
+	motors_output_enable();
+	#if FRAME_CONFIG == HELI_FRAME
         heli_move_servos_to_mid();
 	#else
 	    APM_RC.OutputCh(MOT_1, 	g.rc_3.radio_min);					// Initialization of servo outputs
@@ -111,11 +111,15 @@ void output_min()
 	#endif
 
 	APM_RC.OutputCh(MOT_5,   g.rc_3.radio_min);
-  APM_RC.OutputCh(MOT_6,   g.rc_3.radio_min);
+	APM_RC.OutputCh(MOT_6,   g.rc_3.radio_min);
+
+	#if FRAME_CONFIG == TRI_FRAME
+	APM_RC.OutputCh(CH_TRI_YAW,   g.rc_4.radio_trim); // Yaw servo middle position
+	#endif
 
 	#if FRAME_CONFIG ==	OCTA_FRAME
 	APM_RC.OutputCh(MOT_7,   g.rc_3.radio_min);
-  APM_RC.OutputCh(MOT_8,   g.rc_3.radio_min);
+	APM_RC.OutputCh(MOT_8,   g.rc_3.radio_min);
 	#endif
 
 }

From ed19c25a974df1213c56b2636723ef87547c8c10 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 28 Jan 2012 12:25:47 +0900
Subject: [PATCH 12/12] Arduino 1.0 - changed all #includes of "WProgram.h",
 "wiring.h" and "WConstants.h to "Arduino.h". Modified FastSerial's write
 function to return size_t (number of bytes written).

---
 libraries/APM_RC/APM_RC_APM1.cpp              |  6 +++-
 libraries/APM_RC/APM_RC_APM2.cpp              |  6 +++-
 libraries/AP_ADC/AP_ADC_ADS7844.cpp           | 10 ++++--
 libraries/AP_ADC/AP_ADC_HIL.cpp               |  6 +++-
 .../AP_AnalogSource_Arduino.cpp               |  6 +++-
 libraries/AP_Baro/AP_Baro_BMP085.cpp          |  6 +++-
 libraries/AP_Baro/AP_Baro_BMP085_hil.cpp      |  6 +++-
 libraries/AP_Common/AP_Common.h               |  6 +++-
 libraries/AP_Common/AP_Vector.h               |  6 +++-
 libraries/AP_Common/c++.cpp                   |  6 +++-
 libraries/AP_Compass/AP_Compass_HMC5843.cpp   |  6 +++-
 libraries/AP_DCM/AP_DCM.h                     |  7 ++--
 libraries/AP_DCM/AP_DCM_HIL.h                 |  6 +++-
 libraries/AP_EEPROMB/AP_EEPROMB.h             |  7 ++--
 libraries/AP_GPS/AP_GPS_406.cpp               |  6 +++-
 libraries/AP_GPS/AP_GPS_HIL.cpp               |  6 +++-
 libraries/AP_GPS/AP_GPS_IMU.cpp               |  6 +++-
 libraries/AP_GPS/AP_GPS_MTK16.cpp             |  6 +++-
 libraries/AP_GPS/GPS.cpp                      |  6 +++-
 .../AP_InertialSensor_MPU6000.cpp             |  6 +++-
 libraries/AP_Navigation/Navigation.h          |  6 +++-
 .../AP_OpticalFlow_ADNS3080.cpp               |  6 +++-
 .../AP_PeriodicProcess/AP_TimerProcess.cpp    |  6 +++-
 libraries/AP_RC/AP_RC.cpp                     |  6 +++-
 libraries/AP_RC_Channel/AP_RC_Channel.cpp     |  6 +++-
 .../AP_RangeFinder_MaxsonarXL.cpp             |  6 +++-
 .../AP_RangeFinder_SharpGP2Y.cpp              |  6 +++-
 libraries/AP_RangeFinder/RangeFinder.cpp      |  6 +++-
 libraries/AP_Relay/AP_Relay.cpp               |  6 +++-
 libraries/DataFlash/DataFlash_APM2.cpp        |  6 +++-
 libraries/FastSerial/FastSerial.cpp           | 32 ++++++++++++++++++-
 libraries/FastSerial/FastSerial.h             |  4 +++
 libraries/I2C/I2C.cpp                         |  6 +++-
 libraries/I2C/I2C.h                           |  6 +++-
 libraries/ModeFilter/ModeFilter.cpp           |  6 +++-
 libraries/RC_Channel/RC_Channel.cpp           |  6 +++-
 libraries/Waypoints/Waypoints.h               |  6 +++-
 37 files changed, 212 insertions(+), 40 deletions(-)

diff --git a/libraries/APM_RC/APM_RC_APM1.cpp b/libraries/APM_RC/APM_RC_APM1.cpp
index cd242cd312..fa4995f8c8 100644
--- a/libraries/APM_RC/APM_RC_APM1.cpp
+++ b/libraries/APM_RC/APM_RC_APM1.cpp
@@ -21,7 +21,11 @@
 #include "APM_RC_APM1.h"
 
 #include <avr/interrupt.h>
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
 # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
diff --git a/libraries/APM_RC/APM_RC_APM2.cpp b/libraries/APM_RC/APM_RC_APM2.cpp
index f9e55fcac5..2253294990 100644
--- a/libraries/APM_RC/APM_RC_APM2.cpp
+++ b/libraries/APM_RC/APM_RC_APM2.cpp
@@ -20,7 +20,11 @@
 */
 #include "APM_RC_APM2.h"
 
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
 # error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.cpp b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
index 5eea6eb370..c3cf71cda2 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
@@ -44,15 +44,19 @@
 	Channel 7 : Differential pressure sensor port
 
 */
+#include "AP_ADC_ADS7844.h"
+
 extern "C" {
 	// AVR LibC Includes
 	#include <inttypes.h>
 	#include <stdint.h>
 	#include <avr/interrupt.h>
-	#include "WConstants.h"
 }
-
-#include "AP_ADC_ADS7844.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 
 // Commands for reading ADC channels on ADS7844
 static const unsigned char 		adc_cmd[9]		= { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
diff --git a/libraries/AP_ADC/AP_ADC_HIL.cpp b/libraries/AP_ADC/AP_ADC_HIL.cpp
index 5a0cb92583..80488682ab 100644
--- a/libraries/AP_ADC/AP_ADC_HIL.cpp
+++ b/libraries/AP_ADC/AP_ADC_HIL.cpp
@@ -1,5 +1,9 @@
 #include "AP_ADC_HIL.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 /*
 	AP_ADC_HIL.cpp
diff --git a/libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp b/libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
index 3406a59a22..ff9189e79a 100644
--- a/libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
+++ b/libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
@@ -1,6 +1,10 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include "wiring.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "wiring.h"
+#endif
 #include "AP_AnalogSource_Arduino.h"
 
 float AP_AnalogSource_Arduino::read(void)
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index eefd9c5dad..cf2b1bd527 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -39,8 +39,12 @@ extern "C" {
   // AVR LibC Includes
   #include <inttypes.h>
   #include <avr/interrupt.h>
-  #include "WConstants.h"
 }
+#if defined(ARDUINO) && ARDUINO >= 100
+  #include "Arduino.h"
+#else
+  #include "WConstants.h"
+#endif
 
 #include <AP_Common.h>
 #include <AP_Math.h>		// ArduPilot Mega Vector/Matrix math Library
diff --git a/libraries/AP_Baro/AP_Baro_BMP085_hil.cpp b/libraries/AP_Baro/AP_Baro_BMP085_hil.cpp
index 795326cb4f..71577b8d4a 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085_hil.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085_hil.cpp
@@ -4,8 +4,12 @@ extern "C" {
   // AVR LibC Includes
   #include <inttypes.h>
   #include <avr/interrupt.h>
-  #include "WConstants.h"
 }
+#if defined(ARDUINO) && ARDUINO >= 100
+  #include "Arduino.h"
+#else
+  #include "WConstants.h"
+#endif
 
 #include "AP_Baro_BMP085_hil.h"
 
diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
index 0ffe4aea36..64ff287f15 100644
--- a/libraries/AP_Common/AP_Common.h
+++ b/libraries/AP_Common/AP_Common.h
@@ -16,7 +16,11 @@
 #define _AP_COMMON_H
 
 // Get the common arduino functions
-#include "wiring.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "wiring.h"
+#endif
 // ... and remove some of their stupid macros
 #undef round
 #undef abs
diff --git a/libraries/AP_Common/AP_Vector.h b/libraries/AP_Common/AP_Vector.h
index a82018c388..bcd081a4d3 100644
--- a/libraries/AP_Common/AP_Vector.h
+++ b/libraries/AP_Common/AP_Vector.h
@@ -22,7 +22,11 @@
 #include "../FastSerial/BetterStream.h"
 #include <stdlib.h>
 #include <inttypes.h>
-#include <WProgram.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include <WProgram.h>
+#endif
 
 #ifdef ASSERT
 const static char vectorSource[] ="Vector.hpp";
diff --git a/libraries/AP_Common/c++.cpp b/libraries/AP_Common/c++.cpp
index a11b97ff9b..8ea4bc4f41 100644
--- a/libraries/AP_Common/c++.cpp
+++ b/libraries/AP_Common/c++.cpp
@@ -9,7 +9,11 @@
 
 #include <stdlib.h>
 #include "c++.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 void * operator new(size_t size)
 {
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 2f6b9e72cc..6a160230bd 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -15,8 +15,12 @@
 
 // AVR LibC Includes
 #include <math.h>
-#include "WConstants.h"
 #include <FastSerial.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 
 #include <I2C.h>
 #include "AP_Compass_HMC5843.h"
diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h
index e3a6a89950..bf1a539479 100644
--- a/libraries/AP_DCM/AP_DCM.h
+++ b/libraries/AP_DCM/AP_DCM.h
@@ -10,12 +10,15 @@
 #include "../FastSerial/FastSerial.h"
 #include "../AP_Math/AP_Math.h"
 #include <inttypes.h>
-#include "WProgram.h"
 #include "../AP_Compass/AP_Compass.h"
 #include "../AP_ADC/AP_ADC.h"
 #include "../AP_GPS/AP_GPS.h"
 #include "../AP_IMU/AP_IMU.h"
-
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 class AP_DCM
 {
diff --git a/libraries/AP_DCM/AP_DCM_HIL.h b/libraries/AP_DCM/AP_DCM_HIL.h
index a8266fcb09..ad59081f61 100644
--- a/libraries/AP_DCM/AP_DCM_HIL.h
+++ b/libraries/AP_DCM/AP_DCM_HIL.h
@@ -4,11 +4,15 @@
 #include "../FastSerial/FastSerial.h"
 #include "../AP_Math/AP_Math.h"
 #include <inttypes.h>
-#include "WProgram.h"
 #include "../AP_Compass/AP_Compass.h"
 #include "../AP_ADC/AP_ADC.h"
 #include "../AP_GPS/AP_GPS.h"
 #include "../AP_IMU/AP_IMU.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 
 class AP_DCM_HIL
diff --git a/libraries/AP_EEPROMB/AP_EEPROMB.h b/libraries/AP_EEPROMB/AP_EEPROMB.h
index 38b4d5019f..f9378bc802 100644
--- a/libraries/AP_EEPROMB/AP_EEPROMB.h
+++ b/libraries/AP_EEPROMB/AP_EEPROMB.h
@@ -6,8 +6,11 @@
 #ifndef AP_EEPROMB_h
 #define AP_EEPROMB_h
 
-//#include <stdint.h>
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 /// @class	AP_EEPROMB
 /// @brief	Object for reading and writing to the EEPROM
diff --git a/libraries/AP_GPS/AP_GPS_406.cpp b/libraries/AP_GPS/AP_GPS_406.cpp
index 30ca72a62c..2dbc6139bb 100644
--- a/libraries/AP_GPS/AP_GPS_406.cpp
+++ b/libraries/AP_GPS/AP_GPS_406.cpp
@@ -11,7 +11,11 @@
 
 #include "../FastSerial/FastSerial.h"	// because we need to change baud rates... ugh.
 #include "AP_GPS_406.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 static const char init_str[] = "$PSRF100,0,57600,8,1,0*37";
 
diff --git a/libraries/AP_GPS/AP_GPS_HIL.cpp b/libraries/AP_GPS/AP_GPS_HIL.cpp
index 38db02ba05..31fa562155 100644
--- a/libraries/AP_GPS/AP_GPS_HIL.cpp
+++ b/libraries/AP_GPS/AP_GPS_HIL.cpp
@@ -12,7 +12,11 @@
 //
 
 #include "AP_GPS_HIL.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_HIL::AP_GPS_HIL(Stream *s) : GPS(s)
diff --git a/libraries/AP_GPS/AP_GPS_IMU.cpp b/libraries/AP_GPS/AP_GPS_IMU.cpp
index 8e5da67ae9..9695fd6aae 100644
--- a/libraries/AP_GPS/AP_GPS_IMU.cpp
+++ b/libraries/AP_GPS/AP_GPS_IMU.cpp
@@ -28,7 +28,11 @@
 
 */
 #include "AP_GPS_IMU.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 
 // Constructors ////////////////////////////////////////////////////////////////
diff --git a/libraries/AP_GPS/AP_GPS_MTK16.cpp b/libraries/AP_GPS/AP_GPS_MTK16.cpp
index 9b4f9a95b8..7531917d0b 100644
--- a/libraries/AP_GPS/AP_GPS_MTK16.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK16.cpp
@@ -13,7 +13,11 @@
 
 #include "AP_GPS_MTK16.h"
 #include <stdint.h>
-#include <wiring.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include <wiring.h>
+#endif
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s)
diff --git a/libraries/AP_GPS/GPS.cpp b/libraries/AP_GPS/GPS.cpp
index db5ef00d6d..87c4c8f2e3 100644
--- a/libraries/AP_GPS/GPS.cpp
+++ b/libraries/AP_GPS/GPS.cpp
@@ -1,7 +1,11 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 #include "GPS.h"
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 void
 GPS::update(void)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index ccd6a67c41..3cfd3aefeb 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -3,8 +3,12 @@
 
 #include "AP_InertialSensor_MPU6000.h"
 
-#include <wiring.h>
 #include <SPI.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include <wiring.h>
+#endif
 
 // MPU 6000 registers
 #define MPUREG_WHOAMI 0x75 //
diff --git a/libraries/AP_Navigation/Navigation.h b/libraries/AP_Navigation/Navigation.h
index 4fce19da63..b0919854b8 100644
--- a/libraries/AP_Navigation/Navigation.h
+++ b/libraries/AP_Navigation/Navigation.h
@@ -6,7 +6,11 @@
 #define XTRACK_ENTRY_ANGLE 3000			// Max angle used to correct for track following	degrees*100
 #include <GPS.h>						// ArduPilot GPS Library
 #include "Waypoints.h"					// ArduPilot Waypoints Library
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #define T7 10000000
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
index 85c6251b08..dc24db1392 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
@@ -24,8 +24,12 @@
 */
 
 #include "AP_OpticalFlow_ADNS3080.h"
-#include "WProgram.h"
 #include "SPI.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #define AP_SPI_TIMEOUT 1000
 
diff --git a/libraries/AP_PeriodicProcess/AP_TimerProcess.cpp b/libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
index 5ba103de2f..767efacfb1 100644
--- a/libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
+++ b/libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
@@ -5,9 +5,13 @@
 extern "C" {
 #include <inttypes.h>
 #include <stdint.h>
-#include "WConstants.h"
 #include <avr/interrupt.h>
 }
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 
 uint8_t AP_TimerProcess::_period;
 ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS];
diff --git a/libraries/AP_RC/AP_RC.cpp b/libraries/AP_RC/AP_RC.cpp
index 8c2db835cf..ee20c5f1e0 100644
--- a/libraries/AP_RC/AP_RC.cpp
+++ b/libraries/AP_RC/AP_RC.cpp
@@ -10,8 +10,12 @@
 */
 
 #include "AP_RC.h"
-#include "WProgram.h"
 #include <avr/interrupt.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 // Variable definition for interrupt
 volatile uint16_t timer1count   = 0;
diff --git a/libraries/AP_RC_Channel/AP_RC_Channel.cpp b/libraries/AP_RC_Channel/AP_RC_Channel.cpp
index 9c8c8a6ca4..eea2e91b33 100644
--- a/libraries/AP_RC_Channel/AP_RC_Channel.cpp
+++ b/libraries/AP_RC_Channel/AP_RC_Channel.cpp
@@ -11,7 +11,11 @@
 
 #include <math.h>
 #include <avr/eeprom.h>
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 #include "AP_RC_Channel.h"
 
 #define ANGLE 0
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
index 3e8b6019f1..20915092d6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
@@ -26,7 +26,11 @@
 */
 
 // AVR LibC Includes
-#include "WConstants.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 #include "AP_RangeFinder_MaxsonarXL.h"
 
 // Constructor //////////////////////////////////////////////////////////////
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
index bb8a20c896..3f08bb7dc7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
@@ -26,7 +26,11 @@
 */
 
 // AVR LibC Includes
-#include "WConstants.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 #include "AP_RangeFinder_SharpGP2Y.h"
 
 // Constructor //////////////////////////////////////////////////////////////
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 582e072d60..63945e5ab7 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -13,7 +13,11 @@
 */
 
 // AVR LibC Includes
-#include "WConstants.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 #include "RangeFinder.h"
 
 
diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 0c62abb449..800e35ea71 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -8,7 +8,11 @@
  */
 
 #include <avr/io.h>
-#include "wiring.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "wiring.h"
+#endif
 
 #include "AP_Relay.h"
 
diff --git a/libraries/DataFlash/DataFlash_APM2.cpp b/libraries/DataFlash/DataFlash_APM2.cpp
index 72e336e2ee..a1a2897fc3 100644
--- a/libraries/DataFlash/DataFlash_APM2.cpp
+++ b/libraries/DataFlash/DataFlash_APM2.cpp
@@ -36,8 +36,12 @@ extern "C" {
   // AVR LibC Includes
   #include <inttypes.h>
   #include <avr/interrupt.h>
-  #include "WConstants.h"
 }
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WConstants.h"
+#endif
 
 #include "DataFlash_APM2.h"
 
diff --git a/libraries/FastSerial/FastSerial.cpp b/libraries/FastSerial/FastSerial.cpp
index 75c8e850f0..efc8c896e6 100644
--- a/libraries/FastSerial/FastSerial.cpp
+++ b/libraries/FastSerial/FastSerial.cpp
@@ -31,7 +31,12 @@
 
 //#include "../AP_Common/AP_Common.h"
 #include "FastSerial.h"
-#include "WProgram.h"
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #if   defined(UDR3)
 # define FS_MAX_PORTS   4
@@ -197,6 +202,30 @@ void FastSerial::flush(void)
 	_txBuffer->tail = _txBuffer->head;
 }
 
+#if defined(ARDUINO) && ARDUINO >= 100
+size_t FastSerial::write(uint8_t c)
+{
+	uint16_t i;
+
+	if (!_open) // drop bytes if not open
+		return 0;
+
+	// wait for room in the tx buffer
+	i = (_txBuffer->head + 1) & _txBuffer->mask;
+	while (i == _txBuffer->tail)
+		;
+
+	// add byte to the buffer
+	_txBuffer->bytes[_txBuffer->head] = c;
+	_txBuffer->head = i;
+
+	// enable the data-ready interrupt, as it may be off if the buffer is empty
+	*_ucsrb |= _portTxBits;
+
+	// return number of bytes written (always 1)
+	return 1;
+}
+#else
 void FastSerial::write(uint8_t c)
 {
 	uint16_t i;
@@ -216,6 +245,7 @@ void FastSerial::write(uint8_t c)
 	// enable the data-ready interrupt, as it may be off if the buffer is empty
 	*_ucsrb |= _portTxBits;
 }
+#endif
 
 // Buffer management ///////////////////////////////////////////////////////////
 
diff --git a/libraries/FastSerial/FastSerial.h b/libraries/FastSerial/FastSerial.h
index bc0417a7c0..5fcaa95c75 100644
--- a/libraries/FastSerial/FastSerial.h
+++ b/libraries/FastSerial/FastSerial.h
@@ -116,7 +116,11 @@ public:
 	virtual int read(void);
 	virtual int peek(void);
 	virtual void flush(void);
+#if defined(ARDUINO) && ARDUINO >= 100
+	virtual size_t write(uint8_t c);
+#else
 	virtual void write(uint8_t c);
+#endif
 	using BetterStream::write;
 	//@}
 
diff --git a/libraries/I2C/I2C.cpp b/libraries/I2C/I2C.cpp
index 52fb607f87..2b699b8cc8 100644
--- a/libraries/I2C/I2C.cpp
+++ b/libraries/I2C/I2C.cpp
@@ -31,9 +31,13 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
-#include "WProgram.h"
 #include <inttypes.h>
 #include "I2C.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 
 
diff --git a/libraries/I2C/I2C.h b/libraries/I2C/I2C.h
index 32737173da..ca957312ad 100644
--- a/libraries/I2C/I2C.h
+++ b/libraries/I2C/I2C.h
@@ -31,8 +31,12 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
-#include "WProgram.h"
 #include <inttypes.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 #ifndef I2C_h
 #define I2C_h
diff --git a/libraries/ModeFilter/ModeFilter.cpp b/libraries/ModeFilter/ModeFilter.cpp
index b7f4d3c768..cf282d56f0 100644
--- a/libraries/ModeFilter/ModeFilter.cpp
+++ b/libraries/ModeFilter/ModeFilter.cpp
@@ -14,7 +14,11 @@
 #include "ModeFilter.h"
 
 #include <avr/interrupt.h>
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 
 // Constructors ////////////////////////////////////////////////////////////////
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 37f90e0cdc..bd94992ab1 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -11,7 +11,11 @@
 
 #include <math.h>
 #include <avr/eeprom.h>
-#include "WProgram.h"
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 #include "RC_Channel.h"
 
 #define RC_CHANNEL_ANGLE 0
diff --git a/libraries/Waypoints/Waypoints.h b/libraries/Waypoints/Waypoints.h
index ddf03378a4..2830da3bec 100644
--- a/libraries/Waypoints/Waypoints.h
+++ b/libraries/Waypoints/Waypoints.h
@@ -2,8 +2,12 @@
 #define Waypoints_h
 
 #include <inttypes.h>
-#include "WProgram.h"
 #include <avr/eeprom.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "WProgram.h"
+#endif
 
 class Waypoints
 {