diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index c0d5caf214..05d614e4b0 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -1,6 +1,5 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduRover v2.49"
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -32,80 +31,11 @@
    Please contribute your ideas! See http://dev.ardupilot.com for details
 */
 
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_HAL.h>
-#include <AP_Menu.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_GPS.h>         // ArduPilot GPS library
-#include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Baro.h>
-#include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
-#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
-#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
-#include <AP_AHRS.h>         // ArduPilot Mega DCM Library
-#include <AP_NavEKF.h>
-#include <AP_Mission.h>     // Mission command library
-#include <AP_Rally.h>
-#include <AP_Terrain.h>
-#include <PID.h>            // PID library
-#include <RC_Channel.h>     // RC Channel Library
-#include <AP_RangeFinder.h>	// Range finder library
-#include <Filter.h>			// Filter library
-#include <Butter.h>			// Filter library - butterworth filter
-#include <AP_Buffer.h>      // FIFO buffer library
-#include <ModeFilter.h>		// Mode Filter from Filter library
-#include <AverageFilter.h>	// Mode Filter from Filter library
-#include <AP_Relay.h>       // APM relay
-#include <AP_ServoRelayEvents.h>
-#include <AP_Mount.h>		// Camera/Antenna mount
-#include <AP_Camera.h>		// Camera triggering
-#include <GCS_MAVLink.h>    // MAVLink GCS definitions
-#include <AP_SerialManager.h>   // Serial manager library
-#include <AP_Airspeed.h>    // needed for AHRS build
-#include <AP_Vehicle.h>     // needed for AHRS build
-#include <DataFlash.h>
-#include <AP_RCMapper.h>        // RC input mapping library
-#include <SITL.h>
-#include <AP_Scheduler.h>       // main loop scheduler
-#include <stdarg.h>
-#include <AP_Navigation.h>
-#include <APM_Control.h>
-#include <AP_L1_Control.h>
-#include <AP_BoardConfig.h>
-#include <AP_Frsky_Telem.h>
-
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_VRBRAIN.h>
-#include <AP_HAL_FLYMAPLE.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include "compat.h"
-
-#include <AP_Notify.h>      // Notify library
-#include <AP_BattMonitor.h> // Battery monitor library
-#include <AP_OpticalFlow.h>     // Optical Flow library
-
-// Configuration
-#include "config.h"
-
-// Local modules
-#include "defines.h"
-#include "Parameters.h"
-#include "GCS.h"
-
-#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
-
 #include "Rover.h"
-#include "utility/FastDelegate.h"
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-static Rover rover;
+Rover rover;
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpmf-conversions"
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 3e802b81a3..cb16daa143 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 // default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
 #define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
 
@@ -1253,11 +1255,6 @@ void Rover::mavlink_delay_cb()
     in_mavlink_delay = false;
 }
 
-void mavlink_delay_cb_static()
-{
-    rover.mavlink_delay_cb();
-}
-
 /*
  *  send a message on both GCS links
  */
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index b69e0a2791..4eddb509cd 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 #if LOGGING_ENABLED == ENABLED
 
 #if CLI_ENABLED == ENABLED
@@ -370,7 +372,7 @@ void Rover::Log_Write_Baro(void)
     DataFlash.Log_Write_Baro(barometer);
 }
 
-static const struct LogStructure log_structure[] PROGMEM = {
+const LogStructure Rover::log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
@@ -386,6 +388,20 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "STER", "Iff",   "TimeMS,Demanded,Achieved" },
 };
 
+void Rover::log_init(void)
+{
+	DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
+    if (!DataFlash.CardInserted()) {
+        gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
+        g.log_bitmask.set(0);
+    } else if (DataFlash.NeedErase()) {
+        gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
+		do_erase_logs();
+    }
+	if (g.log_bitmask != 0) {
+		start_logging();
+	}
+}
 
 #if CLI_ENABLED == ENABLED
 // Read the DataFlash log memory : Packet Parser
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 8472113db4..5f9e3cb741 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -1,5 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 /*
   APMRover2 parameter definitions
 */
diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 0ad1ff7aa0..6c1dfd66ea 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -17,6 +17,8 @@
    main Rover class, containing all vehicle specific state
 */
 
+#include "Rover.h"
+
 Rover::Rover(void) :
     param_loader(var_info),
     ins_sample_rate(AP_InertialSensor::RATE_50HZ),
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 2002eac84e..98e83f2a1f 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -17,6 +17,11 @@
    main Rover class, containing all vehicle specific state
 */
 
+#ifndef _ROVER_H_
+#define _ROVER_H_
+
+#define THISFIRMWARE "ArduRover v2.49"
+
 #include <math.h>
 #include <stdarg.h>
 
@@ -365,6 +370,7 @@ private:
     bool gcs_out_of_time;
 
     static const AP_Param::Info var_info[];
+    static const LogStructure log_structure[];
 
 private:
     // private member functions
@@ -414,6 +420,7 @@ private:
     void Log_Write_RC(void);
     void Log_Write_Baro(void);
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
+    void log_init(void);
     void start_logging() ;
     void load_parameters(void);
     void throttle_slew_limit(int16_t last_throttle);
@@ -534,3 +541,8 @@ public:
 };
 
 #define MENU_FUNC(func) AP_HAL_CLASSPROC(&rover, &Rover::func)
+
+extern const AP_HAL::HAL& hal;
+extern Rover rover;
+
+#endif // _ROVER_H_
diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index f0113dafb6..d185ed7cba 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 /*****************************************
 * Throttle slew limit
 *****************************************/
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index b9c91ebd0b..ed327e1120 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 /* Functions in this file:
 	void set_next_WP(const AP_Mission::Mission_Command& cmd)
 	void set_guided_WP(void)
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index f72a1a4d25..a1f4c4a8bb 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -1,5 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 /********************************************************************************/
 // Command Event Handlers
 /********************************************************************************/
diff --git a/APMrover2/commands_process.cpp b/APMrover2/commands_process.cpp
index d3505bb715..c263f56efd 100644
--- a/APMrover2/commands_process.cpp
+++ b/APMrover2/commands_process.cpp
@@ -1,5 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 // called by update navigation at 10Hz
 // --------------------
 void Rover::update_commands(void)
diff --git a/APMrover2/compat.cpp b/APMrover2/compat.cpp
index c79fcd7b43..5146951711 100644
--- a/APMrover2/compat.cpp
+++ b/APMrover2/compat.cpp
@@ -1,4 +1,4 @@
-
+#include "Rover.h"
 
 void Rover::delay(uint32_t ms)
 {
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index 6708b50ef2..c93fd69a10 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -1,5 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 void Rover::read_control_switch()
 {
 	
diff --git a/APMrover2/events.cpp b/APMrover2/events.cpp
index d1f1c61706..736678d884 100644
--- a/APMrover2/events.cpp
+++ b/APMrover2/events.cpp
@@ -1,5 +1,6 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
 
 void Rover::update_events(void)
 {
diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index 0b879c02c2..84525ac072 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -4,6 +4,8 @@
   Andrew Tridgell, December 2011
  */
 
+#include "Rover.h"
+
 /*
   our failsafe strategy is to detect main loop lockup and switch to
   passing inputs straight from the RC inputs to RC outputs.
@@ -49,7 +51,3 @@ void Rover::failsafe_check()
     }
 }
 
-static void failsafe_check_static()
-{
-    rover.failsafe_check();
-}
diff --git a/APMrover2/navigation.cpp b/APMrover2/navigation.cpp
index 766b182a65..b0454a4db9 100644
--- a/APMrover2/navigation.cpp
+++ b/APMrover2/navigation.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 //****************************************************************
 // Function that will calculate the desired direction to fly and distance
 //****************************************************************
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index fe54301a40..5b49599897 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 /*
   allow for runtime change of control channel ordering
  */
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index 03332e14c3..900503f693 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 void Rover::init_barometer(void)
 {
     gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));    
diff --git a/APMrover2/setup.cpp b/APMrover2/setup.cpp
index 52497270d8..9aa9355126 100644
--- a/APMrover2/setup.cpp
+++ b/APMrover2/setup.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 #if CLI_ENABLED == ENABLED
 
 // Command/function table for the setup menu
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 98b3849997..7e9977ef3b 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -6,6 +6,8 @@ The init_ardupilot function processes everything we need for an in - air restart
 
 *****************************************************************************/
 
+#include "Rover.h"
+
 #if CLI_ENABLED == ENABLED
 
 // This is the help function
@@ -63,6 +65,16 @@ void Rover::run_cli(AP_HAL::UARTDriver *port)
 
 #endif // CLI_ENABLED
 
+static void mavlink_delay_cb_static()
+{
+    rover.mavlink_delay_cb();
+}
+
+static void failsafe_check_static()
+{
+    rover.failsafe_check();
+}
+
 void Rover::init_ardupilot()
 {
     // initialise console serial port
@@ -125,17 +137,7 @@ void Rover::init_ardupilot()
 	mavlink_system.sysid = g.sysid_this_mav;
 
 #if LOGGING_ENABLED == ENABLED
-	DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
-    if (!DataFlash.CardInserted()) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
-        g.log_bitmask.set(0);
-    } else if (DataFlash.NeedErase()) {
-        gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
-		do_erase_logs();
-    }
-	if (g.log_bitmask != 0) {
-		start_logging();
-	}
+    log_init();
 #endif
 
     // Register mavlink_delay_cb, which will run anytime you have
diff --git a/APMrover2/test.cpp b/APMrover2/test.cpp
index ce49733649..4026cedaa1 100644
--- a/APMrover2/test.cpp
+++ b/APMrover2/test.cpp
@@ -1,5 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#include "Rover.h"
+
 #if CLI_ENABLED == ENABLED
 
 // Creates a constant array of structs representing menu options