diff --git a/.travis.yml b/.travis.yml
index c75ae3dee0..1382cd798e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,57 +4,26 @@
 language: cpp
 
 git:
-  depth: 1000
+  depth: 2000
 
 matrix:
   fast_finish: true
   include:
     - os: linux
       sudo: required
-      env: GCC_VER=5.4
       services:
         - docker
     - os: osx
       sudo: true
       osx_image: xcode8
-      env: CCACHE_CPP2=1
 
 cache:
   ccache: true
-  pip: true
-  directories:
-    - $HOME/.pip/cache/
-    - $HOME/Library/Caches/pip
 
 before_install:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-         cd ${TRAVIS_BUILD_DIR}
-      && git fetch --unshallow && git fetch --all --tags
-      ;
-    elif [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" == "coverity" ]]; then
-         sudo apt-get install genromfs
-      && pip install empy
-      ;
-    elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-         test "${TRAVIS_BRANCH}" != 'coverity' || exit 0
-      && sudo -H easy_install pip
-      && sudo -H pip install empy
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
-      && sudo mv ccache /usr/local/bin
-      && chmod +x /usr/local/bin/ccache
-      && mkdir -p ~/bin
-      && sudo ln -s /usr/local/bin/ccache ~/bin/c++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/cc
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang
-      && sudo ln -s /usr/local/bin/ccache ~/bin/clang++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/g++
-      && sudo ln -s /usr/local/bin/ccache ~/bin/gcc
-      && export PATH=~/bin:$PATH
-      && wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
-      && sudo mv ninja /usr/local/bin
-      && chmod +x /usr/local/bin/ninja
-      ;
-    fi
+  - sudo -H easy_install pip
+  - sudo -H pip install empy
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then sudo apt-get install genromfs; fi
 
 env:
   global:
@@ -64,55 +33,21 @@ env:
     - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
 # AWS SECRET: $PX4_AWS_SECRET
     - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
-    - PX4_AWS_BUCKET=px4-travis
 
 script:
-  - ccache -M 1GB; ccache -z
   - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-      ./Tools/docker_run.sh 'GIT_SUBMODULES_ARE_EVIL=1 make qgc_firmware';
+      ./Tools/docker_run.sh 'make qgc_firmware';
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
       make tests;
     fi
-  - ccache -s
 
 after_success:
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-         make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
-      && Tools/s3_deploy.py;
-    fi
-  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "$GCC_VER" == "5.4" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
-      export PX4_S3_DEPLOY=1;
+  - if [[ "${TRAVIS_OS_NAME}" = "linux" && "${TRAVIS_PULL_REQUEST}" == "false" && "${TRAVIS_BRANCH}" != "coverity" ]]; then
+         ./Tools/docker_run.sh 'make s3put_firmware AWS_S3_BUCKET="px4-travis/archives/Firmware/${TRAVIS_BRANCH}/${TRAVIS_BUILD_ID}"'
+      && ./Tools/docker_run.sh 'make s3put_qgc_firmware AWS_S3_BUCKET="px4-travis/Firmware/${TRAVIS_BRANCH}"';
     fi
 
 deploy:
-# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-branch
-    upload-dir: Firmware/$TRAVIS_BRANCH
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
-# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-  - provider: s3
-    access_key_id: $PX4_AWS_KEY
-    secret_access_key:
-      secure: $PX4_AWS_SECRET
-    bucket: px4-travis
-    local_dir: s3deploy-archive
-    upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
-    acl: public_read
-    skip_cleanup: true
-    on:
-      all_branches: true
-      condition: $PX4_S3_DEPLOY = 1
-
 # on tags deploy Firmware.zip to Github releases
   - provider: releases
     api_key: 
@@ -123,7 +58,7 @@ deploy:
       tags: true
       all_branches: true
       repo: PX4/Firmware
-      condition: $GCC_VER = 5.4
+      condition: $TRAVIS_OS_NAME = linux
 
 addons:
   coverity_scan:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 79bd84a6fa..95c16d1bdd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -168,14 +168,26 @@ list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")
 
-message(STATUS "${target_name}")
-
-#  The Url for the elf file for crash logging
+# version info from git
+execute_process(
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE version
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+execute_process(
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+message(STATUS "PX4 VERSION: ${git_tag}")
+message(STATUS "CONFIG: ${target_name}")
 
+# The URL for the elf file for crash logging
 if (DEFINED ENV{BUILD_URI})
-	set (BUILD_URI $ENV{BUILD_URI})
+	set(BUILD_URI $ENV{BUILD_URI})
 else()
-	set (BUILD_URI "localhost")
+	set(BUILD_URI "localhost")
 endif()
 
 add_definitions(-DBUILD_URI=${BUILD_URI})
@@ -192,10 +204,12 @@ if(NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
 endif()
-message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+if (CMAKE_INSTALL_PREFIX)
+	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+endif()
 
 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
@@ -242,20 +256,7 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
 	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
 endif()
 
-# version info from git
-execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE version
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
 set(package-contact "px4users@googlegroups.com")
-message(STATUS "VERSION: ${version}")
 
 #=============================================================================
 # find programs and packages
@@ -270,14 +271,12 @@ if (CATKIN_DEVEL_PREFIX)
 	else()
 		message(FATAL_ERROR "catkin not found")
 	endif()
-else()
-	#message(STATUS "catkin DISABLED")
 endif()
 
 find_package(PythonInterp REQUIRED)
 
 #=============================================================================
-# cmake modules
+# cmake testing
 #
 enable_testing()
 include(CTest)
@@ -299,21 +298,39 @@ foreach(var ${required_variables})
 	endif()
 endforeach()
 
+# print full c compiler version
+execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+		OUTPUT_VARIABLE c_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
+message(STATUS "C compiler: ${c_compiler_version_short}")
+
+# print full c++ compiler version
+execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
+		OUTPUT_VARIABLE cxx_compiler_version
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
+message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
+
+
 #=============================================================================
 # git
 #
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
 px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 
 add_custom_target(submodule_clean
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
diff --git a/Makefile b/Makefile
index 02e08069c4..39c6dd1f3b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -116,8 +116,7 @@ define cmake-build
 +@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
 +@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
-+@echo "PX4 CONFIG: $(BUILD_DIR)"
-+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
++@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef
 
 define colorecho
@@ -151,56 +150,20 @@ posix: posix_sitl_default
 broadcast: posix_sitl_broadcast
 
 # Multi- config targets.
-
 eagle_default: posix_eagle_default qurt_eagle_default
 eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
 excelsior_default: posix_excelsior_default qurt_excelsior_default
 
-# Deprecated config targets.
-
-ros_sitl_default:
-	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
-
-_sitl_deprecation:
-	@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
-	@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
-
-run_sitl_quad: _sitl_deprecation
-run_sitl_plane: _sitl_deprecation
-run_sitl_ros: _sitl_deprecation
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default all_nuttx_targets
 
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware compiler_version check check_format format unittest tests qgc_firmware alt_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL:
+.PHONY: qgc_firmware alt_firmware checks_bootloaders uavcan_firmware sizes check quick_check
 
-# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: checks_defaults checks_bootloaders checks_tests checks_uavcan checks_sitls checks_last quick_check tests extra_firmware
-
-uavcan_firmware:
-ifeq ($(VECTORCONTROL),1)
-	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
-	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
-endif
-
-check_px4fmu-v4_default: uavcan_firmware
-
-check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo VECTORCONTROL=$VECTORCONTROL
-ifeq ($(VECTORCONTROL),1)
-	@echo "Cleaning up vectorcontrol firmware"
-	@rm -rf vectorcontrol
-	@rm -rf ROMFS/px4fmu_common/uavcan
-endif
-
-sizes:
-	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
-
-# QGroundControl flashable firmware (currently built by travis-ci)
+# QGroundControl flashable NuttX firmware
 qgc_firmware: \
 	check_aerofc-v1_default \
 	check_crazyflie_default \
@@ -211,7 +174,9 @@ qgc_firmware: \
 	check_px4fmu-v3_default \
 	check_px4fmu-v4_default \
 	check_tap-v1_default \
+	check_sizes
 
+# Other NuttX firmware
 alt_firmware: \
 	check_auav-x21_default \
 	check_px4-stm32f4discovery_default \
@@ -221,8 +186,7 @@ alt_firmware: \
 	check_px4fmu-v5_default \
 	check_px4nucleoF767ZI-v1_default \
 	check_s2740vc-v1_default \
-
-checks_defaults: qgc_firmware alt_firmware
+	check_sizes
 
 checks_bootloaders: \
 	check_esc35-v1_bootloader \
@@ -231,41 +195,68 @@ checks_bootloaders: \
 	check_px4flow-v2_bootloader \
 	check_s2740vc-v1_bootloader \
 	check_zubaxgnss-v1_bootloader \
+	check_sizes
 
-checks_uavcan: \
-	check_px4fmu-v4_default_and_uavcan
+uavcan_firmware:
+	$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
+	@rm -rf vectorcontrol
+	@git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol
+	@BOARD=s2740vc_1_0 make --silent --no-print-directory
+	@BOARD=px4esc_1_6 make --silent --no-print-directory && $(SRC_DIR)/Tools/uavcan_copy.sh)
 
-checks_last: \
-	tests \
-	check_format \
 
-compiler_version:
-	-arm-none-eabi-gcc --version
+sizes:
+	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
 
-# All default targets that don't require a special build environment (currently built on semaphore-ci)
-check: compiler_version checks_defaults checks_bootloaders checks_tests checks_uavcan checks_last sizes
+# All default targets that don't require a special build environment
+check: check_posix_sitl_default qgc_firmware alt_firmware checks_bootloaders tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: compiler_version check_posix_sitl_default check_px4fmu-v3_default tests check_format sizes
-
-check_format:
-	$(call colorecho,"Checking formatting with astyle")
-	@./Tools/check_code_style_all.sh
-	@git diff --check
-
-format:
-	$(call colorecho,"Formatting with astyle")
-	@./Tools/check_code_style_all.sh --fix
+quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
 
 check_%:
 	@echo
 	$(call colorecho,"Building" $(subst check_,,$@))
-	@$(MAKE) --no-print-directory $(subst check_,,$@) package
-	@mkdir -p Packages
-	@cp build_$(subst check_,,$@)/*.zip Packages
-	@rm -rf build_$(subst check_,,$@)
+	@$(MAKE) --no-print-directory $(subst check_,,$@)
 	@echo
 
+# S3 upload helpers
+# --------------------------------------------------------------------
+# s3cmd uses these ENV variables
+#  AWS_ACCESS_KEY_ID
+#  AWS_SECRET_ACCESS_KEY
+#  AWS_S3_BUCKET
+.PHONY: s3put_firmware s3put_qgc_firmware
+
+Firmware.zip:
+	@rm -rf Firmware.zip
+	@zip --junk-paths Firmware.zip `find . -name nuttx-\*.px4`
+
+s3put_firmware: Firmware.zip
+	$(SRC_DIR)/Tools/s3put.sh Firmware.zip
+
+s3put_qgc_firmware: qgc_firmware
+	@$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build_px4fmu-v3_default/airframes.xml
+	@$(SRC_DIR)/Tools/s3put.sh $(SRC_DIR)/build_px4fmu-v3_default/parameters.xml
+	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+
+# Astyle
+# --------------------------------------------------------------------
+.PHONY: check_format format
+
+check_format:
+	$(call colorecho,"Checking formatting with astyle")
+	@$(SRC_DIR)/Tools/check_code_style_all.sh
+	@git diff --check
+
+format:
+	$(call colorecho,"Formatting with astyle")
+	@$(SRC_DIR)/Tools/check_code_style_all.sh --fix
+
+# Testing
+# --------------------------------------------------------------------
+.PHONY: unittest run_tests_posix tests tests_coverage
+
 unittest: posix_sitl_default
 	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
@@ -285,6 +276,12 @@ tests_coverage:
 	@genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info
 	@$(MAKE) --no-print-directory posix_sitl_default test_results_junit
 
+
+
+# Clang analyzers
+# --------------------------------------------------------------------
+.PHONY: scan-build clang-check clang-tidy
+
 scan-build:
 	@export CCACHE_DISABLE=1
 	@mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
@@ -299,12 +296,13 @@ clang-tidy:
 	@CC=clang CXX=clang++ $(MAKE) --no-print-directory posix_sitl_default
 	@$(SRC_DIR)/Tools/clang-tool.sh -b build_posix_sitl_default -t clang-tidy
 
-package_firmware:
-	@./Tools/package_firmware.py
+# Cleanup
+# --------------------------------------------------------------------
+.PHONY: clean submodulesclean distclean
 
 clean:
-	@rm -rf build_*/
-	-@$(MAKE) -C NuttX/nuttx clean
+	@rm -rf $(SRC_DIR)/build_*/
+	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule sync --recursive
@@ -314,13 +312,13 @@ submodulesclean:
 distclean: submodulesclean
 	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
 
+# --------------------------------------------------------------------
+
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
-.PHONY: clean
-
 CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 
 #help:
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index 7a319ee379..298aade6ef 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -1,15 +1,28 @@
 #! /bin/bash
 
+if [ -z "$PX4_DOCKER_REPO" ]; then
+	PX4_DOCKER_REPO=px4io/px4-dev-nuttx:2017-01-14
+fi
+
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../
 
 CCACHE_DIR=${HOME}/.ccache
 mkdir -p ${CCACHE_DIR}
 
+X11_TMP=/tmp/.X11-unix
+
 docker run -it --rm -w ${SRC_DIR} \
-	-v ${SRC_DIR}:${SRC_DIR}:rw \
-	-v /tmp/.X11-unix:/tmp/.X11-unix:ro \
-	-v ${CCACHE_DIR}:${CCACHE_DIR}:rw \
+	-e AWS_ACCESS_KEY_ID=${AWS_ACCESS_KEY_ID} \
+	-e AWS_SECRET_ACCESS_KEY=${AWS_SECRET_ACCESS_KEY} \
 	-e CCACHE_DIR=${CCACHE_DIR} \
+	-e CI=${CI} \
+	-e DISPLAY=$DISPLAY \
+	-e GIT_SUBMODULES_ARE_EVIL=1 \
 	-e LOCAL_USER_ID=`id -u` \
-	px4io/px4-dev-nuttx:2017-01-08 /bin/bash -c "$@"
+	-e TRAVIS_BRANCH=${TRAVIS_BRANCH} \
+	-e TRAVIS_BUILD_ID=${TRAVIS_BUILD_ID} \
+	-v ${CCACHE_DIR}:${CCACHE_DIR}:rw \
+	-v ${SRC_DIR}:${SRC_DIR}:rw \
+	-v ${X11_TMP}:${X11_TMP}:ro \
+	${PX4_DOCKER_REPO} /bin/bash -c "$@"
diff --git a/Tools/s3_deploy.py b/Tools/s3_deploy.py
deleted file mode 100755
index 351e830b95..0000000000
--- a/Tools/s3_deploy.py
+++ /dev/null
@@ -1,44 +0,0 @@
-#!/usr/bin/env python
-
-import glob
-import zipfile
-import os
-import re
-import shutil
-
-S3_DIR = 's3deploy-branch'
-S3_ARCHIVE_DIR = 's3deploy-archive'
-
-if not os.path.isdir(S3_DIR):
-    os.mkdir(S3_DIR)
-
-if not os.path.isdir(S3_ARCHIVE_DIR):
-    os.mkdir(S3_ARCHIVE_DIR)
-
-shutil.copy("Firmware.zip", S3_ARCHIVE_DIR)
-
-def extract_file_only(filename, dest):
-    # extract firmware files without paths
-    f_src = archive.open(filename, 'r')
-    data = f_src.read()
-    with open(os.path.join(dest,
-              os.path.basename(filename)), 'w') as f_dst:
-        f_dst.write(data)
-    f_src.close()
-
-# get all zip files in Packages directory
-for zip_filename in glob.glob("Packages/*.zip"):
-
-    # open zipfile
-    with zipfile.ZipFile(zip_filename, 'r') as archive:
-
-        # look for interesting names
-        for filename in archive.namelist():
-
-            # extract firmware files
-            if os.path.splitext(filename)[1] == '.px4':
-                extract_file_only(filename, S3_DIR)
-
-            # copy px4fmu-v4_default xml files for qgroundcontrol
-            if re.match(filename, r'.*px4fmu-v4_default.*\.xml') is not None:
-                extract_file_only(filename, S3_DIR)
diff --git a/Tools/s3put.sh b/Tools/s3put.sh
new file mode 100755
index 0000000000..34a04fdf76
--- /dev/null
+++ b/Tools/s3put.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+filename=${1}
+
+# Requires these ENV variables
+# AWS_ACCESS_KEY_ID
+# AWS_SECRET_ACCESS_KEY
+# AWS_S3_BUCKET
+
+[ -z "$AWS_ACCESS_KEY_ID" ] && { echo "ERROR: Need to set AWS_ACCESS_KEY_ID"; exit 1; }
+[ -z "$AWS_SECRET_ACCESS_KEY" ] && { echo "ERROR: Need to set AWS_SECRET_ACCESS_KEY"; exit 1; }
+[ -z "$AWS_S3_BUCKET" ] && { echo "ERROR: Need to set AWS_S3_BUCKET"; exit 1; }
+
+if [ -f ${filename} ]; then
+	base_file_name=`basename $filename`
+	short_file_name=${base_file_name#nuttx-}
+	s3cmd --access_key=${AWS_ACCESS_KEY_ID} --secret_key=${AWS_SECRET_ACCESS_KEY} put ${filename} s3://${AWS_S3_BUCKET}/${short_file_name}
+else
+	echo "ERROR: ${file} doesn't exist"
+	exit 1
+fi
diff --git a/Tools/tag_to_version.py b/Tools/tag_to_version.py
old mode 100644
new mode 100755
index fe597ac71d..d09c104901
--- a/Tools/tag_to_version.py
+++ b/Tools/tag_to_version.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 import subprocess
 import os
 import argparse
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 8edaf25dea..f1fc0f9655 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -267,7 +267,7 @@ function(px4_nuttx_add_export)
 	add_custom_target(nuttx_patch_${CONFIG})
 	foreach(patch ${nuttx_patches})
 		get_filename_component(patch_file_name ${patch} NAME)
-		message(STATUS "NuttX patch: nuttx-patches/${patch_file_name}")
+		message(STATUS "${CONFIG} NuttX patch: nuttx-patches/${patch_file_name}")
 		string(REPLACE "/" "_" patch_name "nuttx_patch_${patch_file_name}-${CONFIG}")
 		set(patch_stamp ${nuttx_src}/${patch_name}.stamp)