diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 4d5db5d3d7..a66d35fcc7 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -15,7 +15,6 @@
 //#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)
 //#define AC_TERRAIN            DISABLED            // disable terrain library
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
-//#define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
 //#define VISUAL_ODOMETRY_ENABLED DISABLED          // disable visual odometry to save 2K of flash space
diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 59e45a36e4..233cd212c9 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -162,8 +162,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 
 void Copter::setup() 
 {
-    cliSerial = hal.console;
-
     // Load the default values of variables listed in var_info[]s
     AP_Param::setup_sketch_defaults();
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e8c7c19d05..6fd6ed4c18 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -30,7 +30,6 @@
 // Common dependencies
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
-#include <AP_Menu/AP_Menu.h>
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 
@@ -168,10 +167,6 @@ private:
     AP_Vehicle::MultiCopter aparm;
 
 
-    // cliSerial isn't strictly necessary - it is an alias for hal.console. It may
-    // be deprecated in favor of hal.console in later releases.
-    AP_HAL::BetterStream* cliSerial;
-
     // Global parameters are all contained within the 'g' class.
     Parameters g;
     ParametersG2 g2;
@@ -720,7 +715,6 @@ private:
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_data_stream_send(void);
     void gcs_check_input(void);
-    void do_erase_logs(void);
     void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
     void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
     void Log_Write_Current();
@@ -751,7 +745,6 @@ private:
     void Log_Write_Proximity();
     void Log_Write_Beacon();
     void Log_Write_Vehicle_Startup_Messages();
-    void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
     void load_parameters(void);
     void convert_pid_parameters(void);
     void userhook_init();
@@ -1058,16 +1051,6 @@ private:
     void terrain_update();
     void terrain_logging();
     bool terrain_use();
-    void report_batt_monitor();
-    void report_frame();
-    void report_radio();
-    void report_ins();
-    void report_flight_modes();
-    void report_optflow();
-    void print_radio_values();
-    void print_switch(uint8_t p, uint8_t m, bool b);
-    void print_accel_offsets_and_scaling(void);
-    void print_gyro_offsets(void);
     void report_compass();
     void print_blanks(int16_t num);
     void print_divider(void);
@@ -1149,9 +1132,7 @@ private:
     bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
 
     void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
-    void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void log_init(void);
-    void run_cli(AP_HAL::UARTDriver *port);
     void init_capabilities(void);
     void dataflash_periodic(void);
     void accel_cal_update(void);
@@ -1159,33 +1140,8 @@ private:
 public:
     void mavlink_delay_cb();
     void failsafe_check();
-    int8_t dump_log(uint8_t argc, const Menu::arg *argv);
-    int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
-    int8_t select_logs(uint8_t argc, const Menu::arg *argv);
-    bool print_log_menu(void);
-
-    int8_t process_logs(uint8_t argc, const Menu::arg *argv);
-    int8_t main_menu_help(uint8_t, const Menu::arg*);
-    int8_t setup_mode(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_factory(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_set(uint8_t argc, const Menu::arg *argv);
-    int8_t setup_show(uint8_t argc, const Menu::arg *argv);
-    int8_t esc_calib(uint8_t argc, const Menu::arg *argv);
-
-    int8_t test_mode(uint8_t argc, const Menu::arg *argv);
-    int8_t test_baro(uint8_t argc, const Menu::arg *argv);
-    int8_t test_compass(uint8_t argc, const Menu::arg *argv);
-    int8_t test_ins(uint8_t argc, const Menu::arg *argv);
-    int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
-    int8_t test_relay(uint8_t argc, const Menu::arg *argv);
-    int8_t test_shell(uint8_t argc, const Menu::arg *argv);
-    int8_t test_rangefinder(uint8_t argc, const Menu::arg *argv);
-
-    int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
 };
 
-#define MENU_FUNC(func) FUNCTOR_BIND(&copter, &Copter::func, int8_t, uint8_t, const Menu::arg *)
-
 extern const AP_HAL::HAL& hal;
 extern Copter copter;
 
diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h
index cb3703262d..f6390de58f 100644
--- a/ArduCopter/GCS_Copter.h
+++ b/ArduCopter/GCS_Copter.h
@@ -24,7 +24,4 @@ private:
 
     GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
 
-    bool cli_enabled() const override;
-    AP_HAL::BetterStream* cliSerial() override;
-
 };
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 86a8c0a8c1..f4eac8ff99 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -6,155 +6,6 @@
 // Code to Write and Read packets from DataFlash log memory
 // Code to interact with the user to dump or erase logs
 
-#if CLI_ENABLED == ENABLED
-
-// Creates a constant array of structs representing menu options
-// and stores them in Flash memory, not RAM.
-// User enters the string in the console to call the functions on the right.
-// See class Menu in AP_Coommon for implementation details
-static const struct Menu::command log_menu_commands[] = {
-    {"dump",        MENU_FUNC(dump_log)},
-    {"erase",       MENU_FUNC(erase_logs)},
-    {"enable",      MENU_FUNC(select_logs)},
-    {"disable",     MENU_FUNC(select_logs)}
-};
-
-// A Macro to create the Menu
-MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&copter, &Copter::print_log_menu, bool));
-
-bool Copter::print_log_menu(void)
-{
-    cliSerial->printf("logs enabled: ");
-
-    if (0 == g.log_bitmask) {
-        cliSerial->printf("none");
-    }else{
-        // Macro to make the following code a bit easier on the eye.
-        // Pass it the capitalised name of the log option, as defined
-        // in defines.h but without the LOG_ prefix.  It will check for
-        // the bit being set and print the name of the log option to suit.
-#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", # _s)
-        PLOG(ATTITUDE_FAST);
-        PLOG(ATTITUDE_MED);
-        PLOG(GPS);
-        PLOG(PM);
-        PLOG(CTUN);
-        PLOG(NTUN);
-        PLOG(RCIN);
-        PLOG(IMU);
-        PLOG(CMD);
-        PLOG(CURRENT);
-        PLOG(RCOUT);
-        PLOG(OPTFLOW);
-        PLOG(COMPASS);
-        PLOG(CAMERA);
-        PLOG(PID);
-#undef PLOG
-    }
-
-    cliSerial->printf("\n");
-
-    DataFlash.ListAvailableLogs(cliSerial);
-
-    return(true);
-}
-
-int8_t Copter::dump_log(uint8_t argc, const Menu::arg *argv)
-{
-    int16_t dump_log_num;
-    uint16_t dump_log_start;
-    uint16_t dump_log_end;
-
-    // check that the requested log number can be read
-    dump_log_num = argv[1].i;
-
-    if (dump_log_num == -2) {
-        DataFlash.DumpPageInfo(cliSerial);
-        return(-1);
-    } else if (dump_log_num <= 0) {
-        cliSerial->printf("dumping all\n");
-        Log_Read(0, 1, 0);
-        return(-1);
-    } else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
-        cliSerial->printf("bad log number\n");
-        return(-1);
-    }
-
-    DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
-    Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
-    return (0);
-}
-
-int8_t Copter::erase_logs(uint8_t argc, const Menu::arg *argv)
-{
-    DataFlash.EnableWrites(false);
-    do_erase_logs();
-    DataFlash.EnableWrites(true);
-    return 0;
-}
-
-int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
-{
-    uint16_t bits;
-
-    if (argc != 2) {
-        cliSerial->printf("missing log type\n");
-        return(-1);
-    }
-
-    bits = 0;
-
-    // Macro to make the following code a bit easier on the eye.
-    // Pass it the capitalised name of the log option, as defined
-    // in defines.h but without the LOG_ prefix.  It will check for
-    // that name as the argument to the command, and set the bit in
-    // bits accordingly.
-    //
-    if (!strcasecmp(argv[1].str, "all")) {
-        bits = ~0;
-    } else {
- #define TARG(_s)        if (!strcasecmp(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
-        TARG(ATTITUDE_FAST);
-        TARG(ATTITUDE_MED);
-        TARG(GPS);
-        TARG(PM);
-        TARG(CTUN);
-        TARG(NTUN);
-        TARG(RCIN);
-        TARG(IMU);
-        TARG(CMD);
-        TARG(CURRENT);
-        TARG(RCOUT);
-        TARG(OPTFLOW);
-        TARG(COMPASS);
-        TARG(CAMERA);
-        TARG(PID);
- #undef TARG
-    }
-
-    if (!strcasecmp(argv[0].str, "enable")) {
-        g.log_bitmask.set_and_save(g.log_bitmask | bits);
-    }else{
-        g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
-    }
-
-    return(0);
-}
-
-int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv)
-{
-    log_menu.run();
-    return 0;
-}
-#endif // CLI_ENABLED
-
-void Copter::do_erase_logs(void)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Erasing logs");
-    DataFlash.EraseAll();
-    gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
-}
-
 #if AUTOTUNE_ENABLED == ENABLED
 struct PACKED log_AutoTune {
     LOG_PACKET_HEADER;
@@ -827,24 +678,6 @@ const struct LogStructure Copter::log_structure[] = {
       "THRO",  "QBffffbbbb",  "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" },
 };
 
-#if CLI_ENABLED == ENABLED
-// Read the DataFlash log memory
-void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
-{
-    cliSerial->printf("\n" FIRMWARE_STRING
-                        "\nFree RAM: %u\n"
-                        "\nFrame: %s\n",
-                        (unsigned) hal.util->available_memory(),
-                        get_frame_string());
-
-    cliSerial->printf("%s\n", HAL_BOARD_NAME);
-
-    DataFlash.LogReadProcess(list_entry, start_page, end_page,
-                             FUNCTOR_BIND_MEMBER(&Copter::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
-                             cliSerial);
-}
-#endif // CLI_ENABLED
-
 void Copter::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by DataFlash
@@ -861,22 +694,10 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
 void Copter::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
-
-    gcs().reset_cli_timeout();
 }
 
 #else // LOGGING_ENABLED
 
-#if CLI_ENABLED == ENABLED
-bool Copter::print_log_menu(void) { return true; }
-int8_t Copter::dump_log(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Copter::erase_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
-int8_t Copter::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
-void Copter::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page) {}
-#endif // CLI_ENABLED == ENABLED
-
-void Copter::do_erase_logs(void) {}
 void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, \
                                 float meas_min, float meas_max, float new_gain_rp, \
                                 float new_gain_rd, float new_gain_sp, float new_ddt) {}
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 35abf63d4c..0a6690f475 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -58,15 +58,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 
-#if CLI_ENABLED == ENABLED
-    // @Param: CLI_ENABLED
-    // @DisplayName: CLI Enable
-    // @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Advanced
-    GSCALAR(cli_enabled,    "CLI_ENABLED",    0),
-#endif
-
     // @Param: PILOT_THR_FILT
     // @DisplayName: Throttle filter cutoff
     // @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
@@ -1064,7 +1055,7 @@ const AP_Param::ConversionInfo conversion_table[] = {
 void Copter::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
-        cliSerial->printf("Bad var table\n");
+        hal.console->printf("Bad var table\n");
         AP_HAL::panic("Bad var table");
     }
 
@@ -1076,19 +1067,19 @@ void Copter::load_parameters(void)
         g.format_version != Parameters::k_format_version) {
 
         // erase all parameters
-        cliSerial->printf("Firmware change: erasing EEPROM...\n");
+        hal.console->printf("Firmware change: erasing EEPROM...\n");
         AP_Param::erase_all();
 
         // save the current format version
         g.format_version.set_and_save(Parameters::k_format_version);
-        cliSerial->printf("done.\n");
+        hal.console->printf("done.\n");
     }
 
     uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all(false);
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
-    cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
+    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 24d4b62fb9..039d173b92 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -132,7 +132,7 @@ public:
         k_param_optflow,
         k_param_dcmcheck_thresh,        // deprecated - remove
         k_param_log_bitmask,
-        k_param_cli_enabled,
+        k_param_cli_enabled_old,        // deprecated - remove
         k_param_throttle_filt,
         k_param_throttle_behavior,
         k_param_pilot_takeoff_alt, // 64
@@ -380,9 +380,6 @@ public:
     AP_Int16        sysid_this_mav;
     AP_Int16        sysid_my_gcs;
     AP_Int8         telem_delay;
-#if CLI_ENABLED == ENABLED
-    AP_Int8         cli_enabled;
-#endif
 
     AP_Float        throttle_filt;
     AP_Int16        throttle_behavior;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index de18851e47..daf6f1398d 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -637,11 +637,6 @@
 // Developer Items
 //
 
-// use this to completely disable the CLI
-#ifndef CLI_ENABLED
-  #  define CLI_ENABLED           ENABLED
-#endif
-
 //use this to completely disable FRSKY TELEM
 #ifndef FRSKY_TELEM_ENABLED
   #  define FRSKY_TELEM_ENABLED          ENABLED
diff --git a/ArduCopter/flight_mode.cpp b/ArduCopter/flight_mode.cpp
index f0040daa0b..0433fec921 100644
--- a/ArduCopter/flight_mode.cpp
+++ b/ArduCopter/flight_mode.cpp
@@ -424,70 +424,3 @@ void Copter::notify_flight_mode(control_mode_t mode)
             break;
     }
 }
-
-//
-// print_flight_mode - prints flight mode to serial port.
-//
-void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
-{
-    switch (mode) {
-    case STABILIZE:
-        port->printf("STABILIZE");
-        break;
-    case ACRO:
-        port->printf("ACRO");
-        break;
-    case ALT_HOLD:
-        port->printf("ALT_HOLD");
-        break;
-    case AUTO:
-        port->printf("AUTO");
-        break;
-    case GUIDED:
-        port->printf("GUIDED");
-        break;
-    case LOITER:
-        port->printf("LOITER");
-        break;
-    case RTL:
-        port->printf("RTL");
-        break;
-    case CIRCLE:
-        port->printf("CIRCLE");
-        break;
-    case LAND:
-        port->printf("LAND");
-        break;
-    case DRIFT:
-        port->printf("DRIFT");
-        break;
-    case SPORT:
-        port->printf("SPORT");
-        break;
-    case FLIP:
-        port->printf("FLIP");
-        break;
-    case AUTOTUNE:
-        port->printf("AUTOTUNE");
-        break;
-    case POSHOLD:
-        port->printf("POSHOLD");
-        break;
-    case BRAKE:
-        port->printf("BRAKE");
-        break;
-    case THROW:
-        port->printf("THROW");
-        break;
-    case AVOID_ADSB:
-        port->printf("AVOID_ADSB");
-        break;
-    case GUIDED_NOGPS:
-        port->printf("GUIDED_NOGPS");
-        break;
-    default:
-        port->printf("Mode(%u)", (unsigned)mode);
-        break;
-    }
-}
-
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 2fea7d5957..bc603c5b08 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -106,7 +106,7 @@ void Copter::init_compass()
 
     if (!compass.init() || !compass.read()) {
         // make sure we don't pass a broken compass to DCM
-        cliSerial->printf("COMPASS INIT ERROR\n");
+        hal.console->printf("COMPASS INIT ERROR\n");
         Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
         return;
     }
diff --git a/ArduCopter/setup.cpp b/ArduCopter/setup.cpp
index 56761bb7c4..6d5a546459 100644
--- a/ArduCopter/setup.cpp
+++ b/ArduCopter/setup.cpp
@@ -1,425 +1,15 @@
 #include "Copter.h"
 
-#if CLI_ENABLED == ENABLED
-
-#define PWM_CALIB_MIN 1000
-#define PWM_CALIB_MAX 2000
-#define PWM_HIGHEST_MAX 2200
-#define PWM_LOWEST_MAX 1200
-#define PWM_HIGHEST_MIN 1800
-#define PWM_LOWEST_MIN 800
-
-// Command/function table for the setup menu
-static const struct Menu::command setup_menu_commands[] = {
-    {"reset",                       MENU_FUNC(setup_factory)},
-    {"show",                        MENU_FUNC(setup_show)},
-    {"set",                         MENU_FUNC(setup_set)},
-    {"esc_calib",                   MENU_FUNC(esc_calib)},
-};
-
-// Create the setup menu object.
-MENU(setup_menu, "setup", setup_menu_commands);
-
-// Called from the top-level menu to run the setup menu.
-int8_t Copter::setup_mode(uint8_t argc, const Menu::arg *argv)
-{
-    // Give the user some guidance
-    cliSerial->printf("Setup Mode\n\n\n");
-
-    // Run the setup menu.  When the menu exits, we will return to the main menu.
-    setup_menu.run();
-    return 0;
-}
-
-// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
-// Called by the setup menu 'factoryreset' command.
-int8_t Copter::setup_factory(uint8_t argc, const Menu::arg *argv)
-{
-    int16_t c;
-
-    cliSerial->printf("\n'Y' = factory reset, any other key to abort:\n");
-
-    do {
-        c = cliSerial->read();
-    } while (-1 == c);
-
-    if (('y' != c) && ('Y' != c))
-        return(-1);
-
-    AP_Param::erase_all();
-    cliSerial->printf("\nReboot board");
-
-    delay(1000);
-
-    for (;; ) {
-    }
-    // note, cannot actually return here
-    return(0);
-}
-
-//Set a parameter to a specified value. It will cast the value to the current type of the
-//parameter and make sure it fits in case of INT8 and INT16
-int8_t Copter::setup_set(uint8_t argc, const Menu::arg *argv)
-{
-    int8_t value_int8;
-    int16_t value_int16;
-
-    AP_Param *param;
-    enum ap_var_type p_type;
-
-    if(argc!=3)
-    {
-        cliSerial->printf("Invalid command. Usage: set <name> <value>\n");
-        return 0;
-    }
-
-    param = AP_Param::find(argv[1].str, &p_type);
-    if(!param)
-    {
-        cliSerial->printf("Param not found: %s\n", argv[1].str);
-        return 0;
-    }
-
-    const char *strType = "Value out of range for type";
-    switch(p_type)
-    {
-        case AP_PARAM_INT8:
-            value_int8 = (int8_t)(argv[2].i);
-            if(argv[2].i!=value_int8)
-            {
-                cliSerial->printf("%s INT8\n", strType);
-                return 0;
-            }
-            ((AP_Int8*)param)->set_and_save(value_int8);
-            break;
-        case AP_PARAM_INT16:
-            value_int16 = (int16_t)(argv[2].i);
-            if(argv[2].i!=value_int16)
-            {
-                cliSerial->printf("%s INT16\n", strType);
-                return 0;
-            }
-            ((AP_Int16*)param)->set_and_save(value_int16);
-            break;
-
-        //int32 and float don't need bounds checking, just use the value provoded by Menu::arg
-        case AP_PARAM_INT32:
-            ((AP_Int32*)param)->set_and_save(argv[2].i);
-            break;
-        case AP_PARAM_FLOAT:
-            ((AP_Float*)param)->set_and_save(argv[2].f);
-            break;
-        default:
-            cliSerial->printf("Cannot set parameter of type %d.\n", p_type);
-            break;
-    }
-
-    return 0;
-}
-
-// Print the current configuration.
-// Called by the setup menu 'show' command.
-int8_t Copter::setup_show(uint8_t argc, const Menu::arg *argv)
-{
-    AP_Param *param;
-    ap_var_type type;
-
-    //If a parameter name is given as an argument to show, print only that parameter
-    if(argc>=2)
-    {
-
-        param=AP_Param::find(argv[1].str, &type);
-
-        if(!param)
-        {
-            cliSerial->printf("Parameter not found: '%s'\n", argv[1].str);
-            return 0;
-        }
-        AP_Param::show(param, argv[1].str, type, cliSerial);
-        return 0;
-    }
-
-    // clear the area
-    print_blanks(8);
-
-    report_version();
-    report_radio();
-    report_frame();
-    report_batt_monitor();
-    report_flight_modes();
-    report_ins();
-    report_compass();
-    report_optflow();
-
-    AP_Param::show_all(cliSerial);
-
-    return(0);
-}
-
-int8_t Copter::esc_calib(uint8_t argc,const Menu::arg *argv)
-{
-
-
-	char c;
-	unsigned max_channels = 0;
-	uint32_t set_mask = 0;
-
-	uint16_t pwm_high = PWM_CALIB_MAX;
-	uint16_t pwm_low = PWM_CALIB_MIN;
-
-
-	if (argc < 2) {
-		cliSerial->printf("Pls provide Channel Mask\n"
-                                    "\tusage: esc_calib 1010 - enables calibration for 2nd and 4th Motor\n");
-        return(0);
-	}
-    
-
-	
-    set_mask = strtol (argv[1].str, nullptr, 2);
-	if (set_mask == 0)
-		cliSerial->printf("no channels chosen");
-    //cliSerial->printf("\n%d\n",set_mask);
-    set_mask<<=1;
-	/* wait 50 ms */
-	hal.scheduler->delay(50);
-
-
-	cliSerial->printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
-	       "\n"
-	       "Make sure\n"
-	       "\t - that the ESCs are not powered\n"
-	       "\t - that safety is off\n"
-	       "\t - that the controllers are stopped\n"
-	       "\n"
-	       "Do you want to start calibration now: y or n?\n");
-
-	/* wait for user input */
-    const char *strEscCalib = "ESC calibration";
-	while (1) {
-            c= cliSerial->read();
-			if (c == 'y' || c == 'Y') {
-
-				break;
-
-			} else if (c == 0x03 || c == 0x63 || c == 'q') {
-				cliSerial->printf("%s exited\n", strEscCalib);
-				return(0);
-
-			} else if (c == 'n' || c == 'N') {
-				cliSerial->printf("%s aborted\n", strEscCalib);
-				return(0);
-
-			} 
-
-		/* rate limit to ~ 20 Hz */
-		hal.scheduler->delay(50);
-	}
-
-
-	/* get number of channels available on the device */
-	max_channels = AP_MOTORS_MAX_NUM_MOTORS;
-
-	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	motors->armed(true);
-
-
-	cliSerial->printf("Outputs armed\n");
-
-
-	/* wait for user confirmation */
-	cliSerial->printf("\nHigh PWM set: %d\n"
-	       "\n"
-	       "Connect battery now and hit c+ENTER after the ESCs confirm the first calibration step\n"
-	       "\n", pwm_high);
-
-	while (1) {
-		/* set max PWM */
-		for (unsigned i = 0; i < max_channels; i++) {
-
-			if (set_mask & 1<<i) {
-				motors->output_test(i, pwm_high);
-			}
-		}
-        c = cliSerial->read();
-            
-		if (c == 'c') {
-            break;
-
-		} else if (c == 0x03 || c == 'q') {
-			cliSerial->printf("%s exited\n", strEscCalib);
-			return(0);
-		}
-        
-		/* rate limit to ~ 20 Hz */
-		hal.scheduler->delay(50);
-	}
-
-	cliSerial->printf("Low PWM set: %d\n"
-	       "\n"
-	       "Hit c+Enter when finished\n"
-	       "\n", pwm_low);
-
-	while (1) {
-
-		/* set disarmed PWM */
-		for (unsigned i = 0; i < max_channels; i++) {
-			if (set_mask & 1<<i) {
-				motors->output_test(i, pwm_low);
-			}
-		}
-		c = cliSerial->read();
-
-		if (c == 'c') {
-
-			break;
-
-		} else if (c == 0x03 || c == 'q') {
-			cliSerial->printf("%s exited\n", strEscCalib);
-			return(0);
-		}
-		
-		/* rate limit to ~ 20 Hz */
-		hal.scheduler->delay(50);
-	}
-
-	/* disarm */
-	motors->armed(false);
-    
-	cliSerial->printf("Outputs disarmed\n");
-
-	cliSerial->printf("%s finished\n", strEscCalib);
-
-	return(0);
-}
-
-
-/***************************************************************************/
-// CLI reports
-/***************************************************************************/
-
-void Copter::report_batt_monitor()
-{
-    cliSerial->printf("\nBatt Mon:\n");
-    print_divider();
-    if (battery.num_instances() == 0) {
-        print_enabled(false);
-    } else if (!battery.has_current()) {
-        cliSerial->printf("volts");
-    } else {
-        cliSerial->printf("volts and cur");
-    }
-    print_blanks(2);
-}
-
-void Copter::report_frame()
-{
-    cliSerial->printf("Frame\n");
-    print_divider();
-    cliSerial->printf("%s\n", get_frame_string());
-
-    print_blanks(2);
-}
-
-void Copter::report_radio()
-{
-    cliSerial->printf("Radio\n");
-    print_divider();
-    // radio
-    print_radio_values();
-    print_blanks(2);
-}
-
-void Copter::report_ins()
-{
-    cliSerial->printf("INS\n");
-    print_divider();
-
-    print_gyro_offsets();
-    print_accel_offsets_and_scaling();
-    print_blanks(2);
-}
-
-void Copter::report_flight_modes()
-{
-    cliSerial->printf("Flight modes\n");
-    print_divider();
-
-    for(int16_t i = 0; i < 6; i++ ) {
-        print_switch(i, (control_mode_t)flight_modes[i].get(), BIT_IS_SET(g.simple_modes, i));
-    }
-    print_blanks(2);
-}
-
-void Copter::report_optflow()
-{
- #if OPTFLOW == ENABLED
-    cliSerial->printf("OptFlow\n");
-    print_divider();
-
-    print_enabled(optflow.enabled());
-
-    print_blanks(2);
- #endif     // OPTFLOW == ENABLED
-}
-
-/***************************************************************************/
-// CLI utilities
-/***************************************************************************/
-
-void Copter::print_radio_values()
-{
-    for (uint8_t i=0; i<8; i++) {
-        RC_Channel *rc = RC_Channels::rc_channel(i);
-        cliSerial->printf("CH%u: %d | %d\n", (unsigned)i, rc->get_radio_min(), rc->get_radio_max());
-    }
-}
-
-void Copter::print_switch(uint8_t p, uint8_t m, bool b)
-{
-    cliSerial->printf("Pos %d:\t",p);
-    print_flight_mode(cliSerial, m);
-    cliSerial->printf(",\t\tSimple: ");
-    if(b)
-        cliSerial->printf("ON\n");
-    else
-        cliSerial->printf("OFF\n");
-}
-
-void Copter::print_accel_offsets_and_scaling(void)
-{
-    const Vector3f &accel_offsets = ins.get_accel_offsets();
-    const Vector3f &accel_scale = ins.get_accel_scale();
-    cliSerial->printf("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n",
-                    (double)accel_offsets.x,                           // Pitch
-                    (double)accel_offsets.y,                           // Roll
-                    (double)accel_offsets.z,                           // YAW
-                    (double)accel_scale.x,                             // Pitch
-                    (double)accel_scale.y,                             // Roll
-                    (double)accel_scale.z);                            // YAW
-}
-
-void Copter::print_gyro_offsets(void)
-{
-    const Vector3f &gyro_offsets = ins.get_gyro_offsets();
-    cliSerial->printf("G_off: %4.2f, %4.2f, %4.2f\n",
-                    (double)gyro_offsets.x,
-                    (double)gyro_offsets.y,
-                    (double)gyro_offsets.z);
-}
-
-#endif // CLI_ENABLED
-
 // report_compass - displays compass information.  Also called by compassmot.pde
 void Copter::report_compass()
 {
-    cliSerial->printf("Compass\n");
+    hal.console->printf("Compass\n");
     print_divider();
 
     print_enabled(g.compass_enabled);
 
     // mag declination
-    cliSerial->printf("Mag Dec: %4.4f\n",
+    hal.console->printf("Mag Dec: %4.4f\n",
             (double)degrees(compass.get_declination()));
 
     // mag offsets
@@ -427,7 +17,7 @@ void Copter::report_compass()
     for (uint8_t i=0; i<compass.get_count(); i++) {
         offsets = compass.get_offsets(i);
         // mag offsets
-        cliSerial->printf("Mag%d off: %4.4f, %4.4f, %4.4f\n",
+        hal.console->printf("Mag%d off: %4.4f, %4.4f, %4.4f\n",
                         (int)i,
                         (double)offsets.x,
                         (double)offsets.y,
@@ -435,20 +25,20 @@ void Copter::report_compass()
     }
 
     // motor compensation
-    cliSerial->printf("Motor Comp: ");
+    hal.console->printf("Motor Comp: ");
     if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
-        cliSerial->printf("Off\n");
+        hal.console->printf("Off\n");
     }else{
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
-            cliSerial->printf("Throttle");
+            hal.console->printf("Throttle");
         }
         if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
-            cliSerial->printf("Current");
+            hal.console->printf("Current");
         }
         Vector3f motor_compensation;
         for (uint8_t i=0; i<compass.get_count(); i++) {
             motor_compensation = compass.get_motor_compensation(i);
-            cliSerial->printf("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
+            hal.console->printf("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
                         (int)i,
                         (double)motor_compensation.x,
                         (double)motor_compensation.y,
@@ -462,30 +52,30 @@ void Copter::print_blanks(int16_t num)
 {
     while(num > 0) {
         num--;
-        cliSerial->printf("\n");
+        hal.console->printf("\n");
     }
 }
 
 void Copter::print_divider(void)
 {
     for (int i = 0; i < 40; i++) {
-        cliSerial->printf("-");
+        hal.console->printf("-");
     }
-    cliSerial->printf("\n");
+    hal.console->printf("\n");
 }
 
 void Copter::print_enabled(bool b)
 {
     if(b)
-        cliSerial->printf("en");
+        hal.console->printf("en");
     else
-        cliSerial->printf("dis");
-    cliSerial->printf("abled\n");
+        hal.console->printf("dis");
+    hal.console->printf("abled\n");
 }
 
 void Copter::report_version()
 {
-    cliSerial->printf("FW Ver: %d\n",(int)(g.k_format_version));
+    hal.console->printf("FW Ver: %d\n",(int)(g.k_format_version));
     print_divider();
     print_blanks(2);
 }
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index cbbd25faf3..69f70021e7 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -8,66 +8,6 @@
 *
 *****************************************************************************/
 
-#if CLI_ENABLED == ENABLED
-
-// This is the help function
-int8_t Copter::main_menu_help(uint8_t argc, const Menu::arg *argv)
-{
-    cliSerial->printf("Commands:\n"
-                         "  logs\n"
-                         "  setup\n"
-                         "  test\n"
-                         "  reboot\n"
-                         "\n");
-    return(0);
-}
-
-// Command/function table for the top-level menu.
-const struct Menu::command main_menu_commands[] = {
-//   command		function called
-//   =======        ===============
-    {"logs",                MENU_FUNC(process_logs)},
-    {"setup",               MENU_FUNC(setup_mode)},
-    {"test",                MENU_FUNC(test_mode)},
-    {"reboot",              MENU_FUNC(reboot_board)},
-    {"help",                MENU_FUNC(main_menu_help)},
-};
-
-// Create the top-level menu object.
-MENU(main_menu, THISFIRMWARE, main_menu_commands);
-
-int8_t Copter::reboot_board(uint8_t argc, const Menu::arg *argv)
-{
-    hal.scheduler->reboot(false);
-    return 0;
-}
-
-// the user wants the CLI. It never exits
-void Copter::run_cli(AP_HAL::UARTDriver *port)
-{
-    cliSerial = port;
-    Menu::set_port(port);
-    port->set_blocking_writes(true);
-
-    // disable the mavlink delay callback
-    hal.scheduler->register_delay_callback(nullptr, 5);
-
-    // disable main_loop failsafe
-    failsafe_disable();
-
-    // cut the engines
-    if(motors->armed()) {
-        motors->armed(false);
-        motors->output();
-    }
-
-    while (1) {
-        main_menu.run();
-    }
-}
-
-#endif // CLI_ENABLED
-
 static void mavlink_delay_cb_static()
 {
     copter.mavlink_delay_cb();
@@ -96,9 +36,9 @@ void Copter::init_ardupilot()
     // init vehicle capabilties
     init_capabilities();
 
-    cliSerial->printf("\n\nInit " FIRMWARE_STRING
-                         "\n\nFree RAM: %u\n",
-                      (unsigned)hal.util->available_memory());
+    hal.console->printf("\n\nInit " FIRMWARE_STRING
+                        "\n\nFree RAM: %u\n",
+                        (unsigned)hal.util->available_memory());
 
     //
     // Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
@@ -123,13 +63,6 @@ void Copter::init_ardupilot()
     gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
 
-#if CLI_ENABLED == ENABLED
-    // specify callback function for CLI menu system
-    if (g.cli_enabled) {
-        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *));
-    }
-#endif
-
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
@@ -257,10 +190,6 @@ void Copter::init_ardupilot()
     USERHOOK_INIT
 #endif
 
-#if CLI_ENABLED == ENABLED
-    gcs().handle_interactive_setup();
-#endif // CLI_ENABLED
-
 #if HIL_MODE != HIL_MODE_DISABLED
     while (barometer.get_last_update() == 0) {
         // the barometer begins updating when we get the first
@@ -329,7 +258,7 @@ void Copter::init_ardupilot()
     // disable safety if requested
     BoardConfig.init_safety();
 
-    cliSerial->printf("\nReady to FLY ");
+    hal.console->printf("\nReady to FLY ");
 
     // flag that initialisation has completed
     ap.initialised = true;
diff --git a/ArduCopter/test.cpp b/ArduCopter/test.cpp
deleted file mode 100644
index 784d27f8b0..0000000000
--- a/ArduCopter/test.cpp
+++ /dev/null
@@ -1,277 +0,0 @@
-#include "Copter.h"
-
-#if CLI_ENABLED == ENABLED
-
-// Creates a constant array of structs representing menu options
-// and stores them in Flash memory, not RAM.
-// User enters the string in the console to call the functions on the right.
-// See class Menu in AP_Coommon for implementation details
-static const struct Menu::command test_menu_commands[] = {
-#if HIL_MODE == HIL_MODE_DISABLED
-    {"baro",                MENU_FUNC(test_baro)},
-#endif
-    {"compass",             MENU_FUNC(test_compass)},
-    {"ins",                 MENU_FUNC(test_ins)},
-    {"optflow",             MENU_FUNC(test_optflow)},
-    {"relay",               MENU_FUNC(test_relay)},
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    {"shell", 				MENU_FUNC(test_shell)},
-#endif
-#if HIL_MODE == HIL_MODE_DISABLED
-    {"rangefinder",         MENU_FUNC(test_rangefinder)},
-#endif
-};
-
-// A Macro to create the Menu
-MENU(test_menu, "test", test_menu_commands);
-
-int8_t Copter::test_mode(uint8_t argc, const Menu::arg *argv)
-{
-    test_menu.run();
-    return 0;
-}
-
-#if HIL_MODE == HIL_MODE_DISABLED
-int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
-{
-    print_hit_enter();
-    init_barometer(true);
-
-    while(1) {
-        delay(100);
-        read_barometer();
-
-        if (!barometer.healthy()) {
-            cliSerial->printf("not healthy\n");
-        } else {
-            cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
-                                (double)(baro_alt / 100.0f),
-                                (double)barometer.get_pressure(),
-                                (double)barometer.get_temperature());
-        }
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-    return 0;
-}
-#endif
-
-int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
-{
-    uint8_t delta_ms_fast_loop;
-    uint8_t medium_loopCounter = 0;
-
-    if (!g.compass_enabled) {
-        cliSerial->printf("Compass: ");
-        print_enabled(false);
-        return (0);
-    }
-
-    if (!compass.init()) {
-        cliSerial->printf("Compass initialisation failed!\n");
-        return 0;
-    }
-
-    ahrs.init();
-    ahrs.set_fly_forward(true);
-    ahrs.set_compass(&compass);
-#if OPTFLOW == ENABLED
-    ahrs.set_optflow(&optflow);
-#endif
-    report_compass();
-
-    // we need the AHRS initialised for this test
-    ins.init(scheduler.get_loop_rate_hz());
-    ahrs.reset();
-    int16_t counter = 0;
-    float heading = 0;
-
-    print_hit_enter();
-
-    while(1) {
-        delay(20);
-        if (millis() - fast_loopTimer > 19) {
-            delta_ms_fast_loop      = millis() - fast_loopTimer;
-            G_Dt                    = (float)delta_ms_fast_loop / 1000.0f;                       // used by DCM integrator
-            fast_loopTimer          = millis();
-
-            // INS
-            // ---
-            ahrs.update();
-
-            medium_loopCounter++;
-            if(medium_loopCounter == 5) {
-                if (compass.read()) {
-                    // Calculate heading
-                    const Matrix3f &m = ahrs.get_rotation_body_to_ned();
-                    heading = compass.calculate_heading(m);
-                    compass.learn_offsets();
-                }
-                medium_loopCounter = 0;
-            }
-
-            counter++;
-            if (counter>20) {
-                if (compass.healthy()) {
-                    const Vector3f &mag_ofs = compass.get_offsets();
-                    const Vector3f &mag = compass.get_field();
-                    cliSerial->printf("Heading: %d, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
-                                      (int)(wrap_360_cd(ToDeg(heading) * 100)) /100,
-                                        (double)mag.x,
-                                        (double)mag.y,
-                                        (double)mag.z,
-                                        (double)mag_ofs.x,
-                                        (double)mag_ofs.y,
-                                        (double)mag_ofs.z);
-                } else {
-                    cliSerial->printf("compass not healthy\n");
-                }
-                counter=0;
-            }
-        }
-        if (cliSerial->available() > 0) {
-            break;
-        }
-    }
-
-    // save offsets. This allows you to get sane offset values using
-    // the CLI before you go flying.
-    cliSerial->printf("saving offsets\n");
-    compass.save_offsets();
-    return (0);
-}
-
-int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
-{
-    Vector3f gyro, accel;
-    print_hit_enter();
-    cliSerial->printf("INS\n");
-    delay(1000);
-
-    ahrs.init();
-    ins.init(scheduler.get_loop_rate_hz());
-    cliSerial->printf("...done\n");
-
-    delay(50);
-
-    while(1) {
-        ins.update();
-        gyro = ins.get_gyro();
-        accel = ins.get_accel();
-
-        float test = accel.length() / GRAVITY_MSS;
-
-        cliSerial->printf("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n",
-                (double)accel.x, (double)accel.y, (double)accel.z,
-            (double)gyro.x, (double)gyro.y, (double)gyro.z,
-            (double)test);
-
-        delay(40);
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-}
-
-int8_t Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
-{
-#if OPTFLOW == ENABLED
-    if(optflow.enabled()) {
-        cliSerial->printf("dev id: %d\t",(int)optflow.device_id());
-        print_hit_enter();
-
-        while(1) {
-            delay(200);
-            optflow.update();
-            const Vector2f& flowRate = optflow.flowRate();
-            cliSerial->printf("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n",
-                            (double)flowRate.x,
-                            (double)flowRate.y,
-                            (int)optflow.quality());
-
-            if(cliSerial->available() > 0) {
-                return (0);
-            }
-        }
-    } else {
-        cliSerial->printf("OptFlow: ");
-        print_enabled(false);
-    }
-    return (0);
-#else
-    return (0);
-#endif      // OPTFLOW == ENABLED
-}
-
-int8_t Copter::test_relay(uint8_t argc, const Menu::arg *argv)
-{
-    print_hit_enter();
-    delay(1000);
-
-    while(1) {
-        cliSerial->printf("Relay on\n");
-        relay.on(0);
-        delay(3000);
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-
-        cliSerial->printf("Relay off\n");
-        relay.off(0);
-        delay(3000);
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-}
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-/*
- *  run a debug shell
- */
-int8_t Copter::test_shell(uint8_t argc, const Menu::arg *argv)
-{
-    hal.util->run_debug_shell(cliSerial);
-    return 0;
-}
-#endif
-
-#if HIL_MODE == HIL_MODE_DISABLED
-/*
- *  test the rangefinders
- */
-int8_t Copter::test_rangefinder(uint8_t argc, const Menu::arg *argv)
-{
-#if RANGEFINDER_ENABLED == ENABLED
-	rangefinder.init();
-
-    cliSerial->printf("RangeFinder: %d devices detected\n", rangefinder.num_sensors());
-
-    print_hit_enter();
-    while(1) {
-        delay(100);
-        rangefinder.update();
-
-        for (uint8_t i=0; i<rangefinder.num_sensors(); i++) {
-            cliSerial->printf("Dev%d: status %d distance_cm %d\n",
-                    (int)i,
-                    (int)rangefinder.status(i),
-                    (int)rangefinder.distance_cm(i));
-        }
-
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-#endif
-    return (0);
-}
-#endif
-
-void Copter::print_hit_enter()
-{
-    cliSerial->printf("Hit Enter to exit.\n\n");
-}
-
-#endif // CLI_ENABLED
diff --git a/ArduPlane/setup.cpp b/ArduPlane/setup.cpp
deleted file mode 100644
index 8199a18c25..0000000000
--- a/ArduPlane/setup.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#include "Plane.h"
-
-#if CLI_ENABLED == ENABLED
-
-// Command/function table for the setup menu
-static const struct Menu::command setup_menu_commands[] = {
-    // command			function called
-    // =======          ===============
-    {"reset",           MENU_FUNC(setup_factory)},
-    {"erase",           MENU_FUNC(setup_erase)}
-};
-
-// Create the setup menu object.
-MENU(setup_menu, "setup", setup_menu_commands);
-
-// Called from the top-level menu to run the setup menu.
-int8_t Plane::setup_mode(uint8_t argc, const Menu::arg *argv)
-{
-    // Give the user some guidance
-    cliSerial->printf("Setup Mode\n"
-                         "\n"
-                         "IMPORTANT: if you have not previously set this system up, use the\n"
-                         "'reset' command to initialize the EEPROM to sensible default values\n"
-                         "and then the 'radio' command to configure for your radio.\n"
-                         "\n");
-
-    // Run the setup menu.  When the menu exits, we will return to the main menu.
-    setup_menu.run();
-    return 0;
-}
-
-// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
-// Called by the setup menu 'factoryreset' command.
-int8_t Plane::setup_factory(uint8_t argc, const Menu::arg *argv)
-{
-    int c;
-
-    cliSerial->printf("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: ");
-
-    do {
-        c = cliSerial->read();
-    } while (-1 == c);
-
-    if (('y' != c) && ('Y' != c))
-        return(-1);
-    AP_Param::erase_all();
-    cliSerial->printf("\nFACTORY RESET complete - please reset board to continue");
-
-    for (;; ) {
-    }
-    // note, cannot actually return here
-    return(0);
-}
-
-
-int8_t Plane::setup_erase(uint8_t argc, const Menu::arg *argv)
-{
-    int c;
-
-    cliSerial->printf("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: ");
-
-    do {
-        c = cliSerial->read();
-    } while (-1 == c);
-
-    if (('y' != c) && ('Y' != c))
-        return(-1);
-    zero_eeprom();
-    return 0;
-}
-
-void Plane::zero_eeprom(void)
-{
-    cliSerial->printf("\nErasing EEPROM\n");
-    StorageManager::erase();
-    cliSerial->printf("done\n");
-}
-
-#endif // CLI_ENABLED
diff --git a/ArduPlane/test.cpp b/ArduPlane/test.cpp
deleted file mode 100644
index ea982e5d57..0000000000
--- a/ArduPlane/test.cpp
+++ /dev/null
@@ -1,275 +0,0 @@
-#include "Plane.h"
-
-#if CLI_ENABLED == ENABLED
-
-// Creates a constant array of structs representing menu options
-// and stores them in Flash memory, not RAM.
-// User enters the string in the console to call the functions on the right.
-// See class Menu in AP_Common for implementation details
-static const struct Menu::command test_menu_commands[] = {
-    // Tests below here are for hardware sensors only present
-    // when real sensors are attached or they are emulated
-    {"gps",                 MENU_FUNC(test_gps)},
-    {"ins",                 MENU_FUNC(test_ins)},
-    {"airspeed",            MENU_FUNC(test_airspeed)},
-    {"airpressure",         MENU_FUNC(test_pressure)},
-    {"compass",             MENU_FUNC(test_mag)},
-    {"logging",             MENU_FUNC(test_logging)},
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    {"shell", 				MENU_FUNC(test_shell)},
-#endif
-
-};
-
-// A Macro to create the Menu
-MENU(test_menu, "test", test_menu_commands);
-
-int8_t Plane::test_mode(uint8_t argc, const Menu::arg *argv)
-{
-    cliSerial->printf("Test Mode\n\n");
-    test_menu.run();
-    return 0;
-}
-
-void Plane::print_hit_enter()
-{
-    cliSerial->printf("Hit Enter to exit.\n\n");
-}
-
-/*
- *  test the dataflash is working
- */
-int8_t Plane::test_logging(uint8_t argc, const Menu::arg *argv)
-{
-    DataFlash.ShowDeviceInfo(cliSerial);
-    return 0;
-}
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-/*
- *  run a debug shell
- */
-int8_t Plane::test_shell(uint8_t argc, const Menu::arg *argv)
-{
-    hal.util->run_debug_shell(cliSerial);
-    return 0;
-}
-#endif
-
-//-------------------------------------------------------------------------------------------
-// tests in this section are for real sensors or sensors that have been simulated
-
-int8_t Plane::test_gps(uint8_t argc, const Menu::arg *argv)
-{
-    print_hit_enter();
-    hal.scheduler->delay(1000);
-
-    uint32_t last_message_time_ms = 0;
-    while(1) {
-        hal.scheduler->delay(100);
-
-        gps.update();
-
-        if (gps.last_message_time_ms() != last_message_time_ms) {
-            last_message_time_ms = gps.last_message_time_ms();
-            const Location &loc = gps.location();
-            cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
-                                (long)loc.lat,
-                                (long)loc.lng,
-                                (long)loc.alt/100,
-                                (int)gps.num_sats());
-        } else {
-            cliSerial->printf(".");
-        }
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-}
-
-int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
-{
-    //cliSerial->printf("Calibrating.");
-    ahrs.init();
-    ahrs.set_fly_forward(true);
-    ahrs.set_wind_estimation(true);
-
-    ins.init(scheduler.get_loop_rate_hz());
-    ahrs.reset();
-
-    print_hit_enter();
-    hal.scheduler->delay(1000);
-    
-    uint8_t counter = 0;
-
-    while(1) {
-        hal.scheduler->delay(20);
-        if (micros() - perf.fast_loopTimer_us > 19000UL) {
-            perf.fast_loopTimer_us = micros();
-
-            // INS
-            // ---
-            ahrs.update();
-
-            if(g.compass_enabled) {
-                counter++;
-                if(counter == 5) {
-                    compass.read();
-                    counter = 0;
-                }
-            }
-
-            // We are using the INS
-            // ---------------------
-            Vector3f gyros  = ins.get_gyro();
-            Vector3f accels = ins.get_accel();
-            cliSerial->printf("r:%4d  p:%4d  y:%3d  g=(%5.1f %5.1f %5.1f)  a=(%5.1f %5.1f %5.1f)\n",
-                            (int)ahrs.roll_sensor / 100,
-                            (int)ahrs.pitch_sensor / 100,
-                            (uint16_t)ahrs.yaw_sensor / 100,
-                            (double)gyros.x, (double)gyros.y, (double)gyros.z,
-                            (double)accels.x, (double)accels.y, (double)accels.z);
-        }
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-}
-
-
-int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
-{
-    if (!g.compass_enabled) {
-        cliSerial->printf("Compass: ");
-        print_enabled(false);
-        return (0);
-    }
-
-    if (!compass.init()) {
-        cliSerial->printf("Compass initialisation failed!\n");
-        return 0;
-    }
-    ahrs.init();
-    ahrs.set_fly_forward(true);
-    ahrs.set_wind_estimation(true);
-    ahrs.set_compass(&compass);
-
-    // we need the AHRS initialised for this test
-    ins.init(scheduler.get_loop_rate_hz());
-    ahrs.reset();
-
-    uint16_t counter = 0;
-    float heading = 0;
-
-    print_hit_enter();
-
-    while(1) {
-        hal.scheduler->delay(20);
-        if (micros() - perf.fast_loopTimer_us > 19000UL) {
-            perf.fast_loopTimer_us = micros();
-
-            // INS
-            // ---
-            ahrs.update();
-
-            if(counter % 5 == 0) {
-                if (compass.read()) {
-                    // Calculate heading
-                    const Matrix3f &m = ahrs.get_rotation_body_to_ned();
-                    heading = compass.calculate_heading(m);
-                    compass.learn_offsets();
-                }
-            }
-
-            counter++;
-            if (counter>20) {
-                if (compass.healthy()) {
-                    const Vector3f &mag_ofs = compass.get_offsets();
-                    const Vector3f &mag = compass.get_field();
-                    cliSerial->printf("Heading: %f, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
-                                        (double)((wrap_360_cd(ToDeg(heading) * 100)) /100),
-                                        (double)mag.x, (double)mag.y, (double)mag.z,
-                                        (double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
-                } else {
-                    cliSerial->printf("compass not healthy\n");
-                }
-                counter=0;
-            }
-        }
-        if (cliSerial->available() > 0) {
-            break;
-        }
-    }
-
-    // save offsets. This allows you to get sane offset values using
-    // the CLI before you go flying.
-    cliSerial->printf("saving offsets\n");
-    compass.save_offsets();
-    return (0);
-}
-
-//-------------------------------------------------------------------------------------------
-// real sensors that have not been simulated yet go here
-
-int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
-{
-    if (!airspeed.enabled()) {
-        cliSerial->printf("airspeed: ");
-        print_enabled(false);
-        return (0);
-    }else{
-        print_hit_enter();
-        zero_airspeed(false);
-        cliSerial->printf("airspeed: ");
-        print_enabled(true);
-
-        while(1) {
-            hal.scheduler->delay(20);
-            read_airspeed();
-            cliSerial->printf("%.1f m/s\n", (double)airspeed.get_airspeed());
-
-            if(cliSerial->available() > 0) {
-                return (0);
-            }
-        }
-    }
-}
-
-
-int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
-{
-    cliSerial->printf("Uncalibrated relative airpressure\n");
-    print_hit_enter();
-
-    init_barometer(true);
-
-    while(1) {
-        hal.scheduler->delay(100);
-        barometer.update();
-
-        if (!barometer.healthy()) {
-            cliSerial->printf("not healthy\n");
-        } else {
-            cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
-                                (double)barometer.get_altitude(),
-                                (double)barometer.get_pressure(),
-                                (double)barometer.get_temperature());
-        }
-
-        if(cliSerial->available() > 0) {
-            return (0);
-        }
-    }
-}
-
-void Plane::print_enabled(bool b)
-{
-    if (b) {
-        cliSerial->printf("en");
-    } else {
-        cliSerial->printf("dis");
-    }
-    cliSerial->printf("abled\n");
-}
-
-#endif // CLI_ENABLED