diff --git a/Tools/VARTest/Parameters.pde b/Tools/VARTest/Parameters.pde
index 9c60583740..51776a333b 100644
--- a/Tools/VARTest/Parameters.pde
+++ b/Tools/VARTest/Parameters.pde
@@ -139,18 +139,18 @@ static void load_parameters(void)
 	     g.format_version != Parameters::k_format_version) {
 
 		// erase all parameters
-		Serial.printf_P(PSTR("Firmware change (%u -> %u): erasing EEPROM...\n"),
+		cliSerial->printf_P(PSTR("Firmware change (%u -> %u): erasing EEPROM...\n"),
 						g.format_version.get(), Parameters::k_format_version);
 		AP_Param::erase_all();
 
 		// save the current format version
 		g.format_version.set_and_save(Parameters::k_format_version);
-		Serial.println_P(PSTR("done."));
+		cliSerial->println_P(PSTR("done."));
     } else {
-	    unsigned long before = micros();
+	    unsigned long before = hal.scheduler->micros();
 	    // Load all auto-loaded EEPROM variables
 	    AP_Param::load_all();
 
-	    Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
+	    cliSerial->printf_P(PSTR("load_all took %luus\n"), hal.scheduler->micros() - before);
 	}
 }
diff --git a/Tools/VARTest/VARTest.pde b/Tools/VARTest/VARTest.pde
index ceaff27827..ad2c60341d 100644
--- a/Tools/VARTest/VARTest.pde
+++ b/Tools/VARTest/VARTest.pde
@@ -5,35 +5,52 @@
   Andrew Tridgell February 2012
 */
 
-#include <FastSerial.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdio.h>
+
 #include <AP_Common.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <PID.h>            // PID library
-#include <APM_RC.h>         // ArduPilot Mega RC Library
-#include <RC_Channel.h>     // RC Channel Library
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_Menu.h>
+#include <AP_Param.h>
+#include <AP_GPS.h>         // ArduPilot GPS library
+#include <AP_Baro.h>        // ArduPilot barometer library
 #include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
-#include <SPI.h>			// Arduino SPI lib
-#include <I2C.h>
-#include <AP_Semaphore.h>   // for removing conflict between optical flow and dataflash on SPI3 bus
-#include <DataFlash.h>
-#include <AP_AHRS.h>
-#include <AP_ADC.h>
-#include <AP_Baro.h>
-#include <Filter.h>
-#include <AP_Buffer.h>
-#include <GCS_MAVLink.h>
-#include <AP_PeriodicProcess.h>
-#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
-#include <AP_GPS.h>
-#include <AP_Math.h>
-#include <SITL.h>
-#include <GCS_MAVLink.h>
-#include <AP_Declination.h>
-#include <AP_AnalogSource.h>
+#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
+#include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
+#include <AP_ADC_AnalogSource.h>
+#include <AP_InertialSensor.h> // Inertial Sensor Library
+#include <AP_AHRS.h>         // ArduPilot Mega DCM Library
+#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 <AP_Buffer.h>      // APM FIFO Buffer
+#include <AP_Relay.h>       // APM relay
+#include <AP_Camera.h>          // Photo or video camera
 #include <AP_Airspeed.h>
+#include <memcheck.h>
+
+#include <APM_OBC.h>
+#include <APM_Control.h>
+#include <GCS_MAVLink.h>    // MAVLink GCS definitions
+#include <AP_Mount.h>           // Camera/Antenna mount
+#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
+#include <DataFlash.h>
+#include <SITL.h>
+
 #include "config.h"
 #include "Parameters.h"
 
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Empty.h>
+
+AP_HAL::BetterStream* cliSerial;
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
 // this sets up the parameter table, and sets the default values. This
 // must be the first AP_Param variable declared to ensure its
 // constructor runs before the constructors of the other AP_Param
@@ -43,45 +60,36 @@ AP_Param param_loader(var_info, WP_START_BYTE);
 
 static Parameters g;
 
-static AP_ADC_ADS7844          adc;
 static GPS         *g_gps;
-AP_GPS_Auto     g_gps_driver(&Serial1, &g_gps);
-# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
-  AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
-# else
-  AP_InertialSensor_Oilpan ins( &adc );
-#endif // CONFIG_IMU_TYPE
+AP_GPS_Auto     g_gps_driver(&g_gps);
+AP_InertialSensor_MPU6000 ins;
 AP_AHRS_DCM  ahrs(&ins, g_gps);
 
-Arduino_Mega_ISR_Registry isr_registry;
-#ifdef DESKTOP_BUILD
-AP_Compass_HIL          compass;
-#else
-static AP_Compass_HMC5843 compass;
-#endif
+static AP_Compass_HIL compass;
 AP_Baro_BMP085_HIL      barometer;
-
 SITL					sitl;
 
-FastSerialPort0(Serial);
-FastSerialPort1(Serial1);       // GPS port
-
 #define SERIAL0_BAUD 115200
 
-#define Debug(fmt, args...)  Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)
+#define Debug(fmt, args...)  cliSerial->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)
 
 
 void setup() {
-	Serial.begin(SERIAL0_BAUD, 128, 128);
+	cliSerial = hal.uartA;
+
+	hal.uartA->begin(SERIAL0_BAUD, 128, 128);
+
+    // load the default values of variables listed in var_info[]
+    AP_Param::setup_sketch_defaults();
 
 	load_parameters();
 
 	// show some sizes
-	Serial.printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
-	Serial.printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
-	Serial.printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
-	Serial.printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
-	Serial.printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
+	cliSerial->printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
+	cliSerial->printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
+	cliSerial->printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
+	cliSerial->printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
+	cliSerial->printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
 
 	// some ad-hoc testing
 
@@ -90,7 +98,7 @@ void setup() {
 	g.throttle_min.save();
 	g.throttle_min.set_and_save(g.throttle_min+1);
 
-	Serial.printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);
+	cliSerial->printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);
 
 	// find a variable by name
 	AP_Param                  *vp;
@@ -98,29 +106,29 @@ void setup() {
 	vp = AP_Param::find("RLL2SRV_P", &type);
 	((AP_Float *)vp)->set(23);
 
-	Serial.printf_P(PSTR("RLL2SRV_P=%f\n"),
+	cliSerial->printf_P(PSTR("RLL2SRV_P=%f\n"),
 					g.pidServoRoll.kP());
 
 	char s[AP_MAX_NAME_SIZE+1];
 
 	g.throttle_min.copy_name(s, sizeof(s));
 	s[AP_MAX_NAME_SIZE] = 0;
-	Serial.printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);
+	cliSerial->printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);
 
 	g.channel_roll.radio_min.copy_name(s, sizeof(s));
 	s[AP_MAX_NAME_SIZE] = 0;
-	Serial.printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
+	cliSerial->printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
 
 	Vector3f ofs;
 	ofs = compass.get_offsets();
-	Serial.printf_P(PSTR("Compass: %f %f %f\n"),
+	cliSerial->printf_P(PSTR("Compass: %f %f %f\n"),
 					ofs.x, ofs.y, ofs.z);
 	ofs.x += 1.1;
 	ofs.y += 1.2;
 	ofs.z += 1.3;
 	compass.set_offsets(ofs);
 	compass.save_offsets();
-	Serial.printf_P(PSTR("Compass: %f %f %f\n"),
+	cliSerial->printf_P(PSTR("Compass: %f %f %f\n"),
 					ofs.x, ofs.y, ofs.z);
 
 	test_vector3f();
@@ -135,7 +143,7 @@ void setup() {
 
 	AP_Param::show_all();
 
-	Serial.println_P(PSTR("All done."));
+	cliSerial->println_P(PSTR("All done."));
 }
 
 void loop()
@@ -163,13 +171,13 @@ void test_vector3f(void)
 	v->load();
 
 	vec = *v;
-	Serial.printf_P(PSTR("vec %f %f %f\n"),
+	cliSerial->printf_P(PSTR("vec %f %f %f\n"),
 					vec.x, vec.y, vec.z);
 
 	if (vec.x != 10 ||
 		vec.y != 11 ||
 		vec.z != 12) {
-		Serial.printf_P(PSTR("wrong value for compass vector\n"));
+		cliSerial->printf_P(PSTR("wrong value for compass vector\n"));
 	}
 }
 
@@ -183,7 +191,7 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
 	value++;
 
 	ap->copy_name(s, sizeof(s), type==AP_PARAM_FLOAT);
-	Serial.printf_P(PSTR("Testing variable '%s' of type %u\n"),
+	cliSerial->printf_P(PSTR("Testing variable '%s' of type %u\n"),
 					s, type);
 	enum ap_var_type type2;
 	if (AP_Param::find(s, &type2) != ap ||
@@ -364,3 +372,5 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
 		break;
 	}
 }
+
+AP_HAL_MAIN();
diff --git a/Tools/VARTest/config.h b/Tools/VARTest/config.h
index 901d84811e..b62938192f 100644
--- a/Tools/VARTest/config.h
+++ b/Tools/VARTest/config.h
@@ -46,20 +46,6 @@
 // APM HARDWARE
 //
 
-#ifndef CONFIG_APM_HARDWARE
-# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
-#endif
-
-#if defined( __AVR_ATmega1280__ )
-#define CLI_ENABLED DISABLED
-#define LOGGING_ENABLED DISABLED
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// APM2 HARDWARE DEFAULTS
-//
-
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
 # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
 # define CONFIG_PUSHBUTTON DISABLED
 # define CONFIG_RELAY      DISABLED
@@ -67,29 +53,8 @@
 # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
 # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
 # define MAGNETOMETER ENABLED
-# ifdef APM2_BETA_HARDWARE
-#  define CONFIG_BARO     AP_BARO_BMP085
-# else // APM2 Production Hardware (default)
-#  define CONFIG_BARO     AP_BARO_MS5611
-# endif
-#endif
+# define CONFIG_BARO     AP_BARO_MS5611
 
-//////////////////////////////////////////////////////////////////////////////
-// LED and IO Pins
-//
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
-# define A_LED_PIN        37
-# define B_LED_PIN        36
-# define C_LED_PIN        35
-# define LED_ON           HIGH
-# define LED_OFF          LOW
-# define SLIDE_SWITCH_PIN 40
-# define PUSHBUTTON_PIN   41
-# define USB_MUX_PIN      -1
-# define CONFIG_RELAY     ENABLED
-# define BATTERY_PIN_1	  0
-# define CURRENT_PIN_1	  1
-#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
 # define A_LED_PIN        27
 # define B_LED_PIN        26
 # define C_LED_PIN        25
@@ -101,7 +66,6 @@
 # define USB_MUX_PIN 23
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
-#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // AIRSPEED_SENSOR
diff --git a/Tools/VARTest/nocore.inoflag b/Tools/VARTest/nocore.inoflag
new file mode 100644
index 0000000000..e69de29bb2