diff --git a/.gitignore b/.gitignore
index 74824166ba..22b80c9dc3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -116,6 +116,7 @@
 
 # /sw/ground_segment/misc
 /sw/ground_segment/misc/davis2ivy
+/sw/ground_segment/misc/kestrel2ivy
 
 
 # /sw/airborne/arch/lpc21/test/bootloader
diff --git a/conf/radios/T7chp.xml b/conf/radios/T7chp.xml
index 8637844425..3b52880368 100644
--- a/conf/radios/T7chp.xml
+++ b/conf/radios/T7chp.xml
@@ -10,4 +10,3 @@
   <channel ctl="switch_G" function="CALIB" min="2080" neutral="1525" max="969" average="10"/>
   <channel ctl="VRA" function="GAIN1" min="970" neutral="970" max="2078" average="10"/>
 </radio>
-
diff --git a/conf/radios/T9cap.xml b/conf/radios/T9cap.xml
index 2bda5a2e4c..a2c976242e 100644
--- a/conf/radios/T9cap.xml
+++ b/conf/radios/T9cap.xml
@@ -11,4 +11,3 @@
   <channel ctl="VRC" function="GAIN2" min="970" neutral="1518" max="2077" average="10"/>
   <channel ctl="switch_C" function="MODE" min="2079" neutral="1526" max="966" average="10"/>
 </radio>
-
diff --git a/conf/radios/aron.xml b/conf/radios/aron.xml
index 1dba7a58a8..e3b1dc93b6 100644
--- a/conf/radios/aron.xml
+++ b/conf/radios/aron.xml
@@ -10,4 +10,3 @@
   <channel ctl="left_stick_vert" function="THROTTLE" min="1115" neutral="1115" max="1940" average="0"/>
 
 </radio>
-
diff --git a/conf/radios/fc28.xml b/conf/radios/fc28.xml
index 905016645f..ee1877e811 100644
--- a/conf/radios/fc28.xml
+++ b/conf/radios/fc28.xml
@@ -57,4 +57,3 @@
   <channel ctl="H" function="LLS"      min="1000" neutral="1600" max="2200" average="10"/>
   <channel ctl="I" function="CALIB"    min="1000" neutral="1600" max="2200" average="10"/>
 </radio>
-
diff --git a/conf/radios/generic_tm.xml b/conf/radios/generic_tm.xml
index 0a68957ef2..065774c3f9 100644
--- a/conf/radios/generic_tm.xml
+++ b/conf/radios/generic_tm.xml
@@ -56,4 +56,3 @@
   <channel ctl="H" function="MODE"     min="1000" neutral="1500" max="2000" average="1"/>
   <channel ctl="I" function="SWITCH2"  min="1000" neutral="1500" max="2000" average="1"/>
 </radio>
-
diff --git a/conf/radios/mc24.xml b/conf/radios/mc24.xml
index 5688dd616a..c4de73a3b6 100644
--- a/conf/radios/mc24.xml
+++ b/conf/radios/mc24.xml
@@ -56,4 +56,3 @@
   <channel ctl="H" function="MODE"  min="966" neutral="1500" max="2025" average="1"/>
   <channel ctl="I" function="SWITCH2"  min="1096" neutral="1500" max="1900" average="1"/>
 </radio>
-
diff --git a/conf/radios/mc24_j.xml b/conf/radios/mc24_j.xml
index 79a62253b7..06d809ed08 100644
--- a/conf/radios/mc24_j.xml
+++ b/conf/radios/mc24_j.xml
@@ -56,4 +56,3 @@
   <channel ctl="H" function="MODE"  min="966" neutral="1500" max="2025" average="1"/>
   <channel ctl="I" function="SWITCH2"  min="1096" neutral="1500" max="1900" average="1"/>
 </radio>
-
diff --git a/conf/radios/mc3030.xml b/conf/radios/mc3030.xml
index 396d100768..9068c6c616 100644
--- a/conf/radios/mc3030.xml
+++ b/conf/radios/mc3030.xml
@@ -56,4 +56,3 @@
   <channel ctl="H" function="SWITCH1"  min="1000" neutral="1600" max="2200" average="1"/>
   <channel ctl="I" function="CALIB"    min="1000" neutral="1600" max="2200" average="1"/>
 </radio>
-
diff --git a/conf/radios/x412.xml b/conf/radios/x412.xml
index d06172ba85..57a683b4a8 100644
--- a/conf/radios/x412.xml
+++ b/conf/radios/x412.xml
@@ -53,4 +53,3 @@
   <channel ctl="E" function="SWITCH1"  min="1096" neutral="1500" max="1900" average="1"/>
   <channel ctl="F" function="MODE"     min="966"  neutral="1500" max="2025" average="1"/>
 </radio>
-
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index c8be89d68c..9b55080239 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -286,8 +286,13 @@ void handle_ins_msg( void) {
 
 
   // Send to Estimator (Control)
+#ifdef XSENS_BACKWARDS
+  EstimatorSetAtt((-ins_phi+ins_roll_neutral), (ins_psi + RadOfDeg(180)), (-ins_theta+ins_pitch_neutral));
+  EstimatorSetRate(-ins_p,-ins_q);
+#else
   EstimatorSetAtt(ins_phi+ins_roll_neutral, ins_psi, ins_theta+ins_pitch_neutral);
   EstimatorSetRate(ins_p,ins_q);
+#endif
 
   // Position
   float gps_east = gps.utm_pos.east / 100.;
@@ -311,7 +316,6 @@ void handle_ins_msg( void) {
   float fcourse = atan2f((float)ins_vy, (float)ins_vx);
   EstimatorSetSpeedPol(fspeed, fcourse, fclimb);
 
-
   // Now also finish filling the gps struct for telemetry purposes
   gps.gspeed = fspeed * 100.;
   gps.speed_3d = (uint16_t)(sqrt(ins_vx*ins_vx + ins_vy*ins_vy + ins_vz*ins_vz) * 100);
diff --git a/sw/ground_segment/lpc21iap/lpc21iap.c b/sw/ground_segment/lpc21iap/lpc21iap.c
index 9cd73ff3be..2c5ff1c695 100644
--- a/sw/ground_segment/lpc21iap/lpc21iap.c
+++ b/sw/ground_segment/lpc21iap/lpc21iap.c
@@ -24,7 +24,7 @@
 
 
 #define LPC21IAP_VER_MAJ    1
-#define LPC21IAP_VER_MIN    2
+#define LPC21IAP_VER_MIN    3
 
 
 #if defined(_WIN32) && !defined(__CYGWIN__)
@@ -472,7 +472,7 @@ int main(int argc, char *argv[])
                         /* number of bytes in the last sector */
                         splitCnt = end % MAX_SECT;
                     }
-                    if (splitCnt != MAX_SECT)
+                    if ((splitCnt != MAX_SECT) && (splitCnt > 0))
                     {
                         /* keep partly filled pages for later programming */
                         actBuf = startBuf;
diff --git a/sw/ground_segment/misc/Makefile b/sw/ground_segment/misc/Makefile
index 096dbdfaaa..35ff00d8c9 100644
--- a/sw/ground_segment/misc/Makefile
+++ b/sw/ground_segment/misc/Makefile
@@ -7,10 +7,16 @@ else
 endif
 
 
-all: davis2ivy
+all: davis2ivy kestrel2ivy
+
+clean:
+	rm *.o davis2ivy kestrel2ivy
 
 davis2ivy: davis2ivy.o
 	g++ -o davis2ivy davis2ivy.o  $(LIBRARYS)  -livy
 
+kestrel2ivy: kestrel2ivy.o
+	g++ -o kestrel2ivy kestrel2ivy.o $(LIBRARYS) -livy
+
 %.o : %.c
 	gcc -c -O2 -Wall -I /opt/local/include/  $<
diff --git a/sw/ground_segment/misc/kestrel2ivy.c b/sw/ground_segment/misc/kestrel2ivy.c
new file mode 100644
index 0000000000..70ca70ead8
--- /dev/null
+++ b/sw/ground_segment/misc/kestrel2ivy.c
@@ -0,0 +1,274 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2011 Andreas Gaeb, Max Chtangeev
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file kestrel2ivy.c
+ *  \brief Connect a Kestrel 4500 Bluetooth weather station to the Paparazzi system
+ *
+ * The program communicates with a Kestrel 4500 weather station connected
+ * to a serial port via bluethooth.  It asks for new data (Kestrel S command) in the
+ * specified intervals, extracts the relevant data (ambient pressure and
+ * temperature, wind speed and direction) and broadcasts this via the Ivy bus.
+ *
+ * At the moment, the Ivy messages should be sent with the ID of the actually
+ * flying aircraft, which integrates them into the log file, as long as the
+ * aircraft sends its alive message.
+ *
+ * Useful links:
+ * - <a href="http://www.nkhome.com/kestrel/kestrel-4500</a>
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+
+#include <signal.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyloop.h>
+#include <Ivy/timer.h>
+#include <Ivy/version.h>
+
+
+typedef enum { FALSE = 0, TRUE } BOOL;
+enum {DT = 0,MG,TR,WS,CW,HW,TP,WC,RH,HI,DP,WB,BP,AL,DA};
+
+#define PACKET_LENGTH 256
+#define MIN_PACKET_LENGTH 103
+#define NUM_PARAMS DA+1
+#define CMD_LENGTH 8
+
+// global variables
+int         fd;
+int         ac_id = 1;
+const char *device;
+char        packet[PACKET_LENGTH];
+
+TimerId     tid;
+BOOL        want_alive_msg = FALSE;
+
+
+/// Handler for Ctrl-C, exits the main loop
+void sigint_handler(int sig) {
+  IvyStop();
+  TimerRemove(tid);
+  close(fd);
+}
+
+/// Open the serial port with the appropiate settings
+void open_port(const char* device) {
+  fd = open(device, O_RDWR | O_NOCTTY | O_NDELAY);
+  if (fd == -1) {
+    fprintf(stderr, "open_port: unable to open device %s - ", device);
+    perror(NULL);
+    exit(EXIT_FAILURE);
+  }
+  // setup connection options
+  struct termios options;
+
+  // get the current options
+  tcgetattr(fd, &options);
+
+  // set local mode, enable receiver, set comm. options:
+  // 8 data bits, 1 stop bit, no parity, 9600 Baud
+  options.c_cflag = CLOCAL | CREAD | CS8 | B9600;
+
+  // write options back to port
+  tcsetattr(fd, TCSANOW, &options);
+}
+
+/// Send an 'S' command (read sensor data) to the station and get the packet back
+BOOL send_S() {
+
+  char cmd[CMD_LENGTH] = "S\n\r";
+  
+  int bytes = write(fd, cmd, strlen(cmd));
+  
+  bytes = read(fd, packet, PACKET_LENGTH);
+
+  if (bytes < MIN_PACKET_LENGTH) {
+    fprintf(stderr, "Received packet is incomplete, only %i of %i bytes\n",
+	    bytes, PACKET_LENGTH);
+    return FALSE;
+  
+  } else {
+    return TRUE;
+  }
+}
+
+/// Populate values[] array with floats extracted from the packet string
+int getValues(char* msg, float* values){
+  int i;
+  char* tok;
+  const char delim = ',';
+
+  tok = strtok(msg, &delim);
+
+  for(i=0; i<NUM_PARAMS; i++) {
+    if (tok == NULL) return 0;
+    
+    values[i] = strtof(tok, NULL);
+    tok = strtok(NULL, &delim);
+  }
+  return 1;
+}
+
+/// Get the relevant data from the packet and sent it as Ivy message
+void decode_and_send_to_ivy() {
+  // get relevant data and convert to SI units
+
+  // contents of the kestrel S message response:
+  // DT,  MG,  TR,  WS,  CW,  HW, TP, WC, RH, HI, DP, WB,  BP,  AL, DA
+  //  s, Mag, True, mph, mph, mph, F,  F,  %,  F,  F,  F, inHg, ft, ft
+  //
+  // where:
+  //
+  //   DT is the date and time in seconds since 1st January 2000, 
+  //   AV is air velocity 
+  //   AF is air flow
+  //   MG is the compass magnetic direction
+  //   TR is the compass true direction
+  //   WS is the wind speed
+  //   CW is the crosswind
+  //   HW is the headwind
+  //   TP is the temperature, 
+  //   WC is the wind chill,
+  //   RH is the humidity,
+  //   EV is the evaporation rate
+  //   CT is the concrete temperature
+  //   HR, MO (moisture) are the humidity ratio
+  //   HI is the heat index,
+  //   DP is the dew point,
+  //   WB is the wet bulb
+  //   AP is absolute pressure
+  //   BP is the pressure,   
+  //   AL is the altitude,     
+  //   DA is the density altitude
+  //   AD is air density
+  //   RA is relative air density
+
+
+  float values[NUM_PARAMS];
+  float pstatic_Pa, temp_degC, windspeed_mps, winddir_deg;
+
+  if (want_alive_msg)
+    IvySendMsg("%d ALIVE 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0\n", ac_id);
+
+  if (getValues(packet + MIN_PACKET_LENGTH, values)){
+    pstatic_Pa    = values[BP] * 3386.4;            // original is inches Hg
+    temp_degC     = (values[TP] - 32.0) * 5.0/9.0;  // original is deg F
+    windspeed_mps = values[WS] * 0.44704;           // original is miles per hour
+    winddir_deg   = values[MG];
+    
+    // format has to match declaration in conf/messages.xml
+    IvySendMsg("%d WEATHER %f %f %f %f\n",
+	       ac_id, pstatic_Pa, temp_degC, windspeed_mps, winddir_deg);
+  }
+}
+
+/// Get data from the station and send it via Ivy
+// this function is executed by the timer
+void handle_timer (TimerId id, void *data, unsigned long delta) {
+  if (send_S()) decode_and_send_to_ivy();
+}
+
+void print_usage(int argc, char ** argv) {
+  fprintf(stderr, "Usage: %s [-a] [-b <bus>] [-d <device>] [-i <aircraft_id>] [-s <delay time in seconds>]\n",
+          argv[0]);
+};
+
+/// Main function
+int main(int argc, char **argv) {
+  // default values for options
+  const char
+    *defaultbus = "127.255.255.255:2010",
+    *bus = defaultbus,
+    *defaultdevice = "/dev/rfcomm0";
+  device = defaultdevice;
+  long delay = 1000;
+  
+  // parse options
+  char c;
+  while ((c = getopt (argc, argv, "hab:d:i:s:")) != EOF) {
+    switch (c) {
+    case 'h':
+      print_usage(argc, argv);
+      exit(EXIT_SUCCESS);
+      break;
+    case 'a':
+      want_alive_msg = TRUE;
+      break;
+    case 'b':
+      bus = optarg;
+      break;
+    case 'd':
+      device = optarg;
+      break;
+    case 'i':
+      ac_id = atoi(optarg);
+      break;
+    case 's':
+      delay = atoi(optarg)*1000;
+      break;
+    case '?':
+      if (optopt == 'a' || optopt == 'b' || optopt == 'd' || optopt == 's')
+        fprintf (stderr, "Option -%c requires an argument.\n", optopt);
+      else if (isprint (optopt))
+        fprintf (stderr, "Unknown option `-%c'.\n", optopt);
+      else
+        fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
+      print_usage(argc, argv);
+      exit(EXIT_FAILURE);
+    default:
+      abort ();
+    }
+  }
+
+
+  // make Ctrl-C stop the main loop and clean up properly
+  signal(SIGINT, sigint_handler);
+
+  bzero (packet, PACKET_LENGTH);
+  open_port(device);
+
+  // setup Ivy communication
+  IvyInit("kestrel2ivy", "READY", 0, 0, 0, 0);
+  IvyStart(bus);
+
+  // create timer (Ivy)
+  tid = TimerRepeatAfter (0, delay, handle_timer, 0);
+
+	/* main loop */
+#if IVYMINOR_VERSION == 8
+        IvyMainLoop (NULL,NULL);
+#else
+        IvyMainLoop ();
+#endif
+  return 0;
+}
diff --git a/sw/ground_segment/misc/readme.txt b/sw/ground_segment/misc/readme.txt
index 5221c38c9f..22a89af9bc 100644
--- a/sw/ground_segment/misc/readme.txt
+++ b/sw/ground_segment/misc/readme.txt
@@ -1,3 +1,7 @@
 davis2ivy:
   A wrapper to communicate with a Davis VantagePro/VantagePro2 weather
   station and integrate weather data into the telemetry link.
+
+kestrel2ivy:
+  A wrapper to communicate with a Kestrel 4500 bluetooth weather
+  station and integrate weather data into the telemetry link.