From cb8bb6f7fedf34b72ea01e9f2d8ba2a7e220e665 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Mon, 8 Nov 2010 20:13:21 +0000
Subject: [PATCH] fix line endings, replace CRLF with LF

---
 conf/airframes/TUDelft/Trip50A.xml            |   30 +-
 conf/airframes/TUDelft/Trip50B.xml            |   30 +-
 conf/radios/aron.xml                          |   26 +-
 conf/settings/settings_beth_twist_old.xml     |    6 +-
 conf/simulator/Malolo1/Malolo1-set.xml        |  206 +-
 conf/simulator/Malolo1/Malolo1.xml            | 1092 +--
 conf/simulator/Malolo1/Models/Malolo1.ac      | 8394 ++++++++---------
 conf/simulator/Malolo1/Models/Malolo1.xml     |  206 +-
 conf/system/udev/rules/1-jtag-rule.rules      |    8 +-
 sw/airborne/arch/lpc21/efsl/conf/config.h     |    2 +-
 .../lpc21/efsl/inc/interfaces/LPC2000_regs.h  |  144 +-
 .../arch/lpc21/efsl/inc/interfaces/sd.h       |  132 +-
 .../arch/lpc21/efsl/src/interfaces/sd.c       |  696 +-
 .../arduimu_Firmware_WithGps/arduimu/ADC.pde  |    2 +-
 .../arduimu/Compass.pde                       |    2 +-
 .../arduimu_Firmware_WithGps/arduimu/DCM.pde  |    2 +-
 .../arduimu/GPS_EM406.pde                     |    2 +-
 .../arduimu/GPS_NMEA.pde                      |    2 +-
 .../arduimu/Output.pde                        |    2 +-
 .../arduimu/Vector.pde                        |    2 +-
 .../arduimu/arduimu.pde                       |    2 +-
 .../arduimu/matrix.pde                        |    2 +-
 .../arduimu/press_alt.pde                     |    2 +-
 sw/airborne/fms/libeknav/assertions.hpp       |  130 +-
 sw/airborne/fms/libeknav/basic_ins_qkf.cpp    |  308 +-
 sw/airborne/fms/libeknav/ins_qkf.hpp          |  624 +-
 .../fms/libeknav/ins_qkf_observe_gps_pvt.cpp  |  242 +-
 .../fms/libeknav/ins_qkf_observe_vector.cpp   |  386 +-
 sw/airborne/fms/libeknav/ins_qkf_predict.cpp  |  368 +-
 sw/airborne/fms/libeknav/quaternions.hpp      |  286 +-
 sw/in_progress/airspeed/rls.m                 |   80 +-
 sw/in_progress/airspeed/rls_control.m         |  198 +-
 sw/in_progress/airspeed/ultrasimplesim.m      |  858 +-
 .../firmware/ezusb/hpi_PX-TV402U.hex          |  736 +-
 .../firmware/ezusb/hpi_StarTrek.hex           |  716 +-
 sw/tools/calibration/airspeed.m               |  150 +-
 36 files changed, 8037 insertions(+), 8037 deletions(-)

diff --git a/conf/airframes/TUDelft/Trip50A.xml b/conf/airframes/TUDelft/Trip50A.xml
index cfd28c1262..b8203b747a 100644
--- a/conf/airframes/TUDelft/Trip50A.xml
+++ b/conf/airframes/TUDelft/Trip50A.xml
@@ -127,29 +127,29 @@
 
   </section>
 
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
 
-	<!-- Vertical Outerloop
-		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
-		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-	-->
+	<!-- Vertical Outerloop
+		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
+		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+	-->
 
     <!-- outer loop proportional gain: alt error 5 climb m/s -->
     <define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
     <!-- outer loop saturation: m/s-->
     <define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
 
-    <!-- auto throttle inner loop 
-		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle 
-		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint 
-		+ v_ctl_auto_throttle_pgain * 
-		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
-		+ v_ctl_auto_throttle_dgain * d_err);
-
-		/* pitch pre-command */
+    <!-- auto throttle inner loop 
+		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle 
+		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint 
+		+ v_ctl_auto_throttle_pgain * 
+		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+		+ v_ctl_auto_throttle_dgain * d_err);
+
+		/* pitch pre-command */
 		float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain) 
-		* v_ctl_auto_throttle_pitch_of_vz_pgain;
+		* v_ctl_auto_throttle_pitch_of_vz_pgain;
 	-->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
diff --git a/conf/airframes/TUDelft/Trip50B.xml b/conf/airframes/TUDelft/Trip50B.xml
index 0bd82e16be..d0194acc90 100644
--- a/conf/airframes/TUDelft/Trip50B.xml
+++ b/conf/airframes/TUDelft/Trip50B.xml
@@ -132,29 +132,29 @@
 
   </section>
 
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
 
-	<!-- Vertical Outerloop
-		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
-		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-	-->
+	<!-- Vertical Outerloop
+		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
+		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+	-->
 
     <!-- outer loop proportional gain: alt error 5 climb m/s -->
     <define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
     <!-- outer loop saturation: m/s-->
     <define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
 
-    <!-- auto throttle inner loop 
-		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle 
-		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint 
-		+ v_ctl_auto_throttle_pgain * 
-		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
-		+ v_ctl_auto_throttle_dgain * d_err);
-
-		/* pitch pre-command */
+    <!-- auto throttle inner loop 
+		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle 
+		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint 
+		+ v_ctl_auto_throttle_pgain * 
+		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+		+ v_ctl_auto_throttle_dgain * d_err);
+
+		/* pitch pre-command */
 		float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain) 
-		* v_ctl_auto_throttle_pitch_of_vz_pgain;
+		* v_ctl_auto_throttle_pitch_of_vz_pgain;
 	-->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
diff --git a/conf/radios/aron.xml b/conf/radios/aron.xml
index d1682f31a1..bbe2d2f4a8 100644
--- a/conf/radios/aron.xml
+++ b/conf/radios/aron.xml
@@ -1,13 +1,13 @@
-
-  
-<!DOCTYPE radio SYSTEM "radio.dtd">
-<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000" sync_max="15000" pulse_type="POSITIVE">
-	<channel ctl="switch_E" function="MODE" min="966" neutral="1526" max="2079" average="10"/>	
-	<channel ctl="switch_G" function="DISABLE" min="2080" neutral="1525" max="969" average="10"/>
-  <channel ctl="left_stick_horiz" function="YAW" min="1115" neutral="1520" max="1940" average="0"/>
-  <channel ctl="right_stick_vert" function="PITCH" min="1937" neutral="1518" max="1112" average="0"/>
-  <channel ctl="right_stick_horiz" function="ROLL" min="1114" neutral="1525" max="1939" average="0"/>
-  <channel ctl="left_stick_vert" function="THROTTLE" min="1115" neutral="1115" max="1940" average="0"/> 
-  
-</radio>
-  
+
+  
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000" sync_max="15000" pulse_type="POSITIVE">
+	<channel ctl="switch_E" function="MODE" min="966" neutral="1526" max="2079" average="10"/>	
+	<channel ctl="switch_G" function="DISABLE" min="2080" neutral="1525" max="969" average="10"/>
+  <channel ctl="left_stick_horiz" function="YAW" min="1115" neutral="1520" max="1940" average="0"/>
+  <channel ctl="right_stick_vert" function="PITCH" min="1937" neutral="1518" max="1112" average="0"/>
+  <channel ctl="right_stick_horiz" function="ROLL" min="1114" neutral="1525" max="1939" average="0"/>
+  <channel ctl="left_stick_vert" function="THROTTLE" min="1115" neutral="1115" max="1940" average="0"/> 
+  
+</radio>
+  
diff --git a/conf/settings/settings_beth_twist_old.xml b/conf/settings/settings_beth_twist_old.xml
index fdc2d1953f..3f053c7a29 100644
--- a/conf/settings/settings_beth_twist_old.xml
+++ b/conf/settings/settings_beth_twist_old.xml
@@ -37,9 +37,9 @@
       <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="beth/overo_twist_controller"  shortname="c">
       </dl_setting>
 
-  <!--float ulim;  1 
-  float Vm; .1
-  float VM; 300
+  <!--float ulim;  1 
+  float Vm; .1
+  float VM; 300
   float satval1; 0.4
   float satval2; 1
   const float c;.04-->
diff --git a/conf/simulator/Malolo1/Malolo1-set.xml b/conf/simulator/Malolo1/Malolo1-set.xml
index b2f87d2c60..c85509bb87 100644
--- a/conf/simulator/Malolo1/Malolo1-set.xml
+++ b/conf/simulator/Malolo1/Malolo1-set.xml
@@ -1,103 +1,103 @@
-<?xml version="1.0"?>
-<!--
-************************************************************************
-Rascal 110 R/C airplane config. This files ties together all the components
-used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
-dynamics model, and external 3D model.
-************************************************************************
--->
-
-<PropertyList>
- <sim>
-
-  <description>Malolo1(R/C)</description>
-  <author>Innis Cunningham, Josh Wilson</author>
-  <aircraft-version>0.0</aircraft-version>
-
-  <startup>
-    <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
-  </startup>
-
-  <flight-model>jsb</flight-model>
-  <aero>Malolo1</aero>
-  <fuel-fraction>0.8</fuel-fraction>
-  <!--
-  <systems>
-   <autopilot>
-    <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
-   </autopilot>
-   <electrical>
-    <path>Aircraft/Malolo1/Systems/electrical.xml</path>
-   </electrical>
-  </systems> -->
-
-  <sound>
-   <path>Aircraft/Generic/generic-sound.xml</path>
-  </sound>
-
-  <panel>
-   <visibility archive="n">false</visibility>
-  </panel>
-
-  <model>
-   <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
-  </model>
-  
-  <view>
-   <internal archive="y">true</internal>
-   <config>
-     <x-offset-m archive="y">0.0</x-offset-m>
-     <y-offset-m archive="y">0.26</y-offset-m>
-     <z-offset-m archive="y">0.34</z-offset-m>
-     <pitch-offset-deg>-8</pitch-offset-deg>
-   </config>
-  </view>
-
-        <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
-  <help>
-    <title>YardStik 110 (Sig Mfg)</title>
-    <line>Cruise speed: 60 mph</line>
-    <line>Never-exceed (Vne): 85 mph</line>
-    <line>Best Glide (Vglide): 20 mph</line>
-    <line>Maneuvering (Va): 50 mph</line>
-    <line>Approach speed: 15-25 mph</line>
-    <line>Stall speed (Vs): 10 mph</line>
-  </help>
-
- </sim>
-
- <controls>
-  <flight>
-   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
-   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
-   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
-  </flight>
-  <engines>
-   <engine n="0">
-    <magnetos>3</magnetos>
-   </engine>
-  </engines>
-  <door>1.0</door>
- </controls>
-
- <engines>
-  <engine>
-   <rpm type="double">700</rpm>
-  </engine>
- </engines>
-  
- <!-- An autopilot on a Cub??? -->  
- <autopilot>
-   <config>
-     <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
-     <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
-     <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
-     <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
-     <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
-     <integral-contribution type="float">0.008</integral-contribution> 
-     <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
-     <zero-pitch-trim-full-throttle type="float">0.001</zero-pitch-trim-full-throttle>
-   </config>
- </autopilot>
-
-</PropertyList>
+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+  <description>Malolo1(R/C)</description>
+  <author>Innis Cunningham, Josh Wilson</author>
+  <aircraft-version>0.0</aircraft-version>
+
+  <startup>
+    <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
+  </startup>
+
+  <flight-model>jsb</flight-model>
+  <aero>Malolo1</aero>
+  <fuel-fraction>0.8</fuel-fraction>
+  <!--
+  <systems>
+   <autopilot>
+    <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
+   </autopilot>
+   <electrical>
+    <path>Aircraft/Malolo1/Systems/electrical.xml</path>
+   </electrical>
+  </systems> -->
+
+  <sound>
+   <path>Aircraft/Generic/generic-sound.xml</path>
+  </sound>
+
+  <panel>
+   <visibility archive="n">false</visibility>
+  </panel>
+
+  <model>
+   <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
+  </model>
+  
+  <view>
+   <internal archive="y">true</internal>
+   <config>
+     <x-offset-m archive="y">0.0</x-offset-m>
+     <y-offset-m archive="y">0.26</y-offset-m>
+     <z-offset-m archive="y">0.34</z-offset-m>
+     <pitch-offset-deg>-8</pitch-offset-deg>
+   </config>
+  </view>
+
+        <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
+  <help>
+    <title>YardStik 110 (Sig Mfg)</title>
+    <line>Cruise speed: 60 mph</line>
+    <line>Never-exceed (Vne): 85 mph</line>
+    <line>Best Glide (Vglide): 20 mph</line>
+    <line>Maneuvering (Va): 50 mph</line>
+    <line>Approach speed: 15-25 mph</line>
+    <line>Stall speed (Vs): 10 mph</line>
+  </help>
+
+ </sim>
+
+ <controls>
+  <flight>
+   <aileron-trim>-0.01</aileron-trim>   <!-- fixed -->
+   <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+   <rudder-trim>0.00</rudder-trim>     <!-- fixed -->
+  </flight>
+  <engines>
+   <engine n="0">
+    <magnetos>3</magnetos>
+   </engine>
+  </engines>
+  <door>1.0</door>
+ </controls>
+
+ <engines>
+  <engine>
+   <rpm type="double">700</rpm>
+  </engine>
+ </engines>
+  
+ <!-- An autopilot on a Cub??? -->  
+ <autopilot>
+   <config>
+     <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
+     <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
+     <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
+     <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
+     <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
+     <integral-contribution type="float">0.008</integral-contribution> 
+     <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
+     <zero-pitch-trim-full-throttle type="float">0.001</zero-pitch-trim-full-throttle>
+   </config>
+ </autopilot>
+
+</PropertyList>
diff --git a/conf/simulator/Malolo1/Malolo1.xml b/conf/simulator/Malolo1/Malolo1.xml
index 5ee13aa539..c12a9ae9c3 100644
--- a/conf/simulator/Malolo1/Malolo1.xml
+++ b/conf/simulator/Malolo1/Malolo1.xml
@@ -1,546 +1,546 @@
-<?xml version="1.0"?>
-<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
-<fdm_config name="rascal" version="2.0" release="BETA"
- xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
- xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
-
-    <fileheader>
-        <author> Author Name </author>
-        <filecreationdate> Creation Date </filecreationdate>
-        <version> Version </version>
-        <description> Models a Malolo </description>
-    </fileheader>
-
-    <metrics>
-        <wingarea unit="FT2"> 10.57 </wingarea>
-        <wingspan unit="FT"> 9.17 </wingspan>
-        <chord unit="FT"> 1.15 </chord>
-        <htailarea unit="FT2"> 1.69 </htailarea>
-        <htailarm unit="FT"> 3.28 </htailarm>
-        <vtailarea unit="FT2"> 1.06 </vtailarea>
-        <vtailarm unit="FT"> 0 </vtailarm>
-        <location name="AERORP" unit="IN">
-            <x> 37.4 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="EYEPOINT" unit="IN">
-            <x> 20 </x>
-            <y> 0 </y>
-            <z> 5 </z>
-        </location>
-        <location name="VRP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </metrics>
-
-    <mass_balance>
-        <ixx unit="SLUG*FT2"> 1 </ixx>
-        <iyy unit="SLUG*FT2"> 1 </iyy>
-        <izz unit="SLUG*FT2"> 2 </izz>
-        <ixy unit="SLUG*FT2"> 0 </ixy>
-        <ixz unit="SLUG*FT2"> 0 </ixz>
-        <iyz unit="SLUG*FT2"> 0 </iyz>
-        <emptywt unit="LBS"> 12 </emptywt>
-        <location name="CG" unit="IN">
-            <x> 36.4 </x>
-            <y> 0 </y>
-            <z> 4 </z>
-        </location>
-        <pointmass name="payload">
-            <weight unit="LBS"> 1 </weight>
-            <location name="payload" unit="IN">
-                <x> 0 </x>
-                <y> 0 </y>
-                <z> 0 </z>
-            </location>
-        </pointmass>
-    </mass_balance>
-
-    <ground_reactions>
-        <contact type="BOGEY" name="LEFT_MLG">
-            <location unit="IN">
-                <x> 40.1 </x>
-                <y> -9.9 </y>
-                <z> -10.1 </z>
-            </location>
-            <static_friction> 0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
-            <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> LEFT </brake_group>
-            <retractable>0</retractable>
-        </contact>
-        <contact type="BOGEY" name="RIGHT_MLG">
-            <location unit="IN">
-                <x> 40.1 </x>
-                <y> 9.9 </y>
-                <z> -10.1 </z>
-            </location>
-            <static_friction> 0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
-            <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> RIGHT </brake_group>
-            <retractable>0</retractable>
-        </contact>
-        <contact type="BOGEY" name="TAIL_LG">
-            <location unit="IN">
-                <x> 68.9 </x>
-                <y> 0 </y>
-                <z>-4.3 </z>
-            </location>
-            <static_friction> 0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
-            <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
-            <max_steer unit="DEG"> 360.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-        <contact type="BOGEY" name="NOSE_LG">
-            <location unit="IN">
-                <x>10</x>
-                <y>0</y>
-                <z>-8.3</z>
-            </location>
-            <static_friction> 0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
-            <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
-            <max_steer unit="DEG"> 360.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-    </ground_reactions>
-
-    <propulsion>
-        <engine file="Zenoah_G-26A">
-            <location unit="IN">
-                <x> 36 </x>
-                <y> 0 </y>
-                <z> 0 </z>
-            </location>
-            <orient unit="DEG">
-                <roll> 0.0 </roll>
-                <pitch> 0 </pitch>
-                <yaw> 0 </yaw>
-            </orient>
-            <feed>0</feed>
-            <thruster file="18x8">
-                <location unit="IN">
-                    <x> 1 </x>
-                    <y> 0 </y>
-                    <z> 0 </z>
-                </location>
-                <orient unit="DEG">
-                    <roll> 0.0 </roll>
-                    <pitch> 0.0 </pitch>
-                    <yaw> 0.0 </yaw>
-                </orient>
-                <p_factor>1.0</p_factor>
-            </thruster>
-        </engine>
-        <tank type="FUEL">    <!-- Tank number 0 --> 
-            <location unit="IN">
-                <x> 36.36 </x>
-                <y> 0 </y>
-                <z> -1.89375 </z>
-            </location>
-            <capacity unit="LBS"> 1.5 </capacity>
-            <contents unit="LBS"> 1.5 </contents>
-        </tank>
-    </propulsion>
-
-    <flight_control name="FCS: rascal">
-     <channel name="All">
-
-        <summer name="Pitch Trim Sum">
-            <input>fcs/elevator-cmd-norm</input>
-            <input>fcs/pitch-trim-cmd-norm</input>
-            <clipto>
-                <min>-1</min>
-                <max>1</max>
-            </clipto>
-        </summer>
-
-        <aerosurface_scale name="Elevator Control">
-            <input>fcs/pitch-trim-sum</input>
-            <range>
-                <min>-0.35</min>
-                <max>0.3</max>
-            </range>
-            <output>fcs/elevator-pos-rad</output>
-        </aerosurface_scale>
-
-        <aerosurface_scale name="Elevator Normalized">
-            <input>fcs/elevator-pos-rad</input>
-            <domain>
-                <min>-0.3</min>
-                <max> 0.3</max>
-            </domain>
-            <range>
-                <min>-1</min>
-                <max> 1</max>
-            </range>
-            <output>fcs/elevator-pos-norm</output>
-        </aerosurface_scale>
-
-        <summer name="Roll Trim Sum">
-            <input>fcs/aileron-cmd-norm</input>
-            <input>fcs/roll-trim-cmd-norm</input>
-            <clipto>
-                <min>-1</min>
-                <max>1</max>
-            </clipto>
-        </summer>
-
-        <aerosurface_scale name="Left Aileron Control">
-            <input>fcs/roll-trim-sum</input>
-            <range>
-                <min>-0.35</min>
-                <max>0.35</max>
-            </range>
-            <output>fcs/left-aileron-pos-rad</output>
-        </aerosurface_scale>
-
-        <aerosurface_scale name="Right Aileron Control">
-            <input>-fcs/roll-trim-sum</input>
-            <range>
-                <min>-0.35</min>
-                <max>0.35</max>
-            </range>
-            <output>fcs/right-aileron-pos-rad</output>
-        </aerosurface_scale>
-
-        <aerosurface_scale name="Left aileron Normalized">
-            <input>fcs/left-aileron-pos-rad</input>
-            <domain>
-                <min>-0.35</min>
-                <max> 0.35</max>
-            </domain>
-            <range>
-                <min>-1</min>
-                <max> 1</max>
-            </range>
-            <output>fcs/left-aileron-pos-norm</output>
-        </aerosurface_scale>
-
-        <aerosurface_scale name="Right aileron Normalized">
-            <input>fcs/right-aileron-pos-rad</input>
-            <domain>
-                <min>-0.35</min>
-                <max> 0.35</max>
-            </domain>
-            <range>
-                <min>-1</min>
-                <max> 1</max>
-            </range>
-            <output>fcs/right-aileron-pos-norm</output>
-        </aerosurface_scale>
-
-        <summer name="Rudder Command Sum">
-            <input>fcs/rudder-cmd-norm</input>
-            <input>fcs/yaw-trim-cmd-norm</input>
-            <clipto>
-                <min>-1</min>
-                <max>1</max>
-            </clipto>
-        </summer>
-
-        <aerosurface_scale name="Rudder Control">
-            <input>fcs/rudder-command-sum</input>
-            <range>
-                <min>-0.35</min>
-                <max>0.35</max>
-            </range>
-            <output>fcs/rudder-pos-rad</output>
-        </aerosurface_scale>
-
-        <aerosurface_scale name="Rudder Normalized">
-            <input>fcs/rudder-pos-rad</input>
-            <domain>
-                <min>-0.35</min>
-                <max> 0.35</max>
-            </domain>
-            <range>
-                <min>-1</min>
-                <max> 1</max>
-            </range>
-            <output>fcs/rudder-pos-norm</output>
-        </aerosurface_scale>
-     </channel>
-    </flight_control>
-    <aerodynamics>
-
-        <axis name="DRAG">
-            <function name="aero/coefficient/CD0">
-                <description>Drag_at_zero_lift</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                      <table>
-                          <independentVar>aero/alpha-rad</independentVar>
-                          <tableData>
-                              -1.5700	1.5000	
-                              -0.2600	0.0560	
-                              0.0000	0.0280	
-                              0.2600	0.0560	
-                              1.5700	1.5000	
-                          </tableData>
-                      </table>
-                </product>
-            </function>
-            <function name="aero/coefficient/CDi">
-                <description>Induced_drag</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>aero/cl-squared</property>
-                    <value>0.0400</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/CDbeta">
-                <description>Drag_due_to_sideslip</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                      <table>
-                          <independentVar>aero/beta-rad</independentVar>
-                          <tableData>
-                              -1.5700	1.2300	
-                              -0.2600	0.0500	
-                              0.0000	0.0000	
-                              0.2600	0.0500	
-                              1.5700	1.2300	
-                          </tableData>
-                      </table>
-                </product>
-            </function>
-            <function name="aero/coefficient/CDde">
-                <description>Drag_due_to_Elevator_Deflection</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>fcs/elevator-pos-norm</property>
-                    <value>0.0300</value>
-                </product>
-            </function>
-        </axis>
-
-        <axis name="SIDE">
-            <function name="aero/coefficient/CYb">
-                <description>Side_force_due_to_beta</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>aero/beta-rad</property>
-                    <value>-1.0000</value>
-                </product>
-            </function>
-        </axis>
-
-        <axis name="LIFT">
-            <function name="aero/coefficient/CLalpha">
-                <description>Lift_due_to_alpha</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                      <table>
-                          <independentVar>aero/alpha-rad</independentVar>
-                          <tableData>
-                              -0.2000	-0.7500	
-                              0.0000	0.2500	
-                              0.2300	1.4000	
-                              0.6000	0.7100	
-                          </tableData>
-                      </table>
-                </product>
-            </function>
-            <function name="aero/coefficient/CLde">
-                <description>Lift_due_to_Elevator_Deflection</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>fcs/elevator-pos-rad</property>
-                    <value>0.2000</value>
-                </product>
-            </function>
-        </axis>
-
-        <axis name="ROLL">
-            <function name="aero/coefficient/Clb">
-                <description>Roll_moment_due_to_beta</description>
-                <!-- aka dihedral effect -->
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>aero/beta-rad</property>
-                    <value>-0.1000</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Clp">
-                <description>Roll_moment_due_to_roll_rate</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>aero/bi2vel</property>
-                    <property>velocities/p-aero-rad_sec</property>
-                    <value>-0.4000</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Clr">
-                <description>Roll_moment_due_to_yaw_rate</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>aero/bi2vel</property>
-                    <property>velocities/r-aero-rad_sec</property>
-                    <value>0.1500</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Clda">
-                <description>Roll_moment_due_to_aileron</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>fcs/left-aileron-pos-rad</property>
-                      <table>
-                          <independentVar>velocities/mach</independentVar>
-                          <tableData>
-                              0.0000	0.1300	
-                              2.0000	0.0570	
-                          </tableData>
-                      </table>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cldr">
-                <description>Roll_moment_due_to_rudder</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>fcs/rudder-pos-rad</property>
-                    <value>0.0100</value>
-                </product>
-            </function>
-        </axis>
-
-        <axis name="PITCH">
-            <function name="aero/coefficient/Cmalpha">
-                <description>Pitch_moment_due_to_alpha</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/cbarw-ft</property>
-                    <property>aero/alpha-rad</property>
-                    <value>-0.5000</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cmde">
-                <description>Pitch_moment_due_to_elevator</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/cbarw-ft</property>
-                    <property>fcs/elevator-pos-rad</property>
-                      <table>
-                          <independentVar>velocities/mach</independentVar>
-                          <tableData>
-                              0.0000	-0.5000	<!-- was -1.1 -->
-                              2.0000	-0.2750	
-                          </tableData>
-                      </table>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cmq">
-                <description>Pitch_moment_due_to_pitch_rate</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/cbarw-ft</property>
-                    <property>aero/ci2vel</property>
-                    <property>velocities/q-aero-rad_sec</property>
-                    <value>-12.0000</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cmadot">
-                <description>Pitch_moment_due_to_alpha_rate</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/cbarw-ft</property>
-                    <property>aero/ci2vel</property>
-                    <property>aero/alphadot-rad_sec</property>
-                    <value>-7.0000</value>
-                </product>
-            </function>
-        </axis>
-
-        <axis name="YAW">
-            <function name="aero/coefficient/Cnb">
-                <description>Yaw_moment_due_to_beta</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>aero/beta-rad</property>
-                    <value>0.1200</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cnr">
-                <description>Yaw_moment_due_to_yaw_rate</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>aero/bi2vel</property>
-                    <property>velocities/r-aero-rad_sec</property>
-                    <value>-0.1500</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cndr">
-                <description>Yaw_moment_due_to_rudder</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>fcs/rudder-pos-rad</property>
-                    <value>-0.0500</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cnda">
-                <description>Adverse_yaw</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <property>fcs/left-aileron-pos-rad</property>
-                    <value>-0.0300</value>
-                </product>
-            </function>
-            <function name="aero/coefficient/Cndi">
-                <description>Yaw_moment_due_to_tail_incidence</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <property>metrics/Sw-sqft</property>
-                    <property>metrics/bw-ft</property>
-                    <value>0.0007</value>
-                </product>
-            </function>
-        </axis>
-    </aerodynamics>
-</fdm_config>
+<?xml version="1.0"?>
+<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
+<fdm_config name="rascal" version="2.0" release="BETA"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+    <fileheader>
+        <author> Author Name </author>
+        <filecreationdate> Creation Date </filecreationdate>
+        <version> Version </version>
+        <description> Models a Malolo </description>
+    </fileheader>
+
+    <metrics>
+        <wingarea unit="FT2"> 10.57 </wingarea>
+        <wingspan unit="FT"> 9.17 </wingspan>
+        <chord unit="FT"> 1.15 </chord>
+        <htailarea unit="FT2"> 1.69 </htailarea>
+        <htailarm unit="FT"> 3.28 </htailarm>
+        <vtailarea unit="FT2"> 1.06 </vtailarea>
+        <vtailarm unit="FT"> 0 </vtailarm>
+        <location name="AERORP" unit="IN">
+            <x> 37.4 </x>
+            <y> 0 </y>
+            <z> 0 </z>
+        </location>
+        <location name="EYEPOINT" unit="IN">
+            <x> 20 </x>
+            <y> 0 </y>
+            <z> 5 </z>
+        </location>
+        <location name="VRP" unit="IN">
+            <x> 0 </x>
+            <y> 0 </y>
+            <z> 0 </z>
+        </location>
+    </metrics>
+
+    <mass_balance>
+        <ixx unit="SLUG*FT2"> 1 </ixx>
+        <iyy unit="SLUG*FT2"> 1 </iyy>
+        <izz unit="SLUG*FT2"> 2 </izz>
+        <ixy unit="SLUG*FT2"> 0 </ixy>
+        <ixz unit="SLUG*FT2"> 0 </ixz>
+        <iyz unit="SLUG*FT2"> 0 </iyz>
+        <emptywt unit="LBS"> 12 </emptywt>
+        <location name="CG" unit="IN">
+            <x> 36.4 </x>
+            <y> 0 </y>
+            <z> 4 </z>
+        </location>
+        <pointmass name="payload">
+            <weight unit="LBS"> 1 </weight>
+            <location name="payload" unit="IN">
+                <x> 0 </x>
+                <y> 0 </y>
+                <z> 0 </z>
+            </location>
+        </pointmass>
+    </mass_balance>
+
+    <ground_reactions>
+        <contact type="BOGEY" name="LEFT_MLG">
+            <location unit="IN">
+                <x> 40.1 </x>
+                <y> -9.9 </y>
+                <z> -10.1 </z>
+            </location>
+            <static_friction> 0.8 </static_friction>
+            <dynamic_friction> 0.5 </dynamic_friction>
+            <rolling_friction> 0.02 </rolling_friction>
+            <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+            <max_steer unit="DEG"> 0.0 </max_steer>
+            <brake_group> LEFT </brake_group>
+            <retractable>0</retractable>
+        </contact>
+        <contact type="BOGEY" name="RIGHT_MLG">
+            <location unit="IN">
+                <x> 40.1 </x>
+                <y> 9.9 </y>
+                <z> -10.1 </z>
+            </location>
+            <static_friction> 0.8 </static_friction>
+            <dynamic_friction> 0.5 </dynamic_friction>
+            <rolling_friction> 0.02 </rolling_friction>
+            <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+            <max_steer unit="DEG"> 0.0 </max_steer>
+            <brake_group> RIGHT </brake_group>
+            <retractable>0</retractable>
+        </contact>
+        <contact type="BOGEY" name="TAIL_LG">
+            <location unit="IN">
+                <x> 68.9 </x>
+                <y> 0 </y>
+                <z>-4.3 </z>
+            </location>
+            <static_friction> 0.8 </static_friction>
+            <dynamic_friction> 0.5 </dynamic_friction>
+            <rolling_friction> 0.02 </rolling_friction>
+            <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+            <max_steer unit="DEG"> 360.0 </max_steer>
+            <brake_group> NONE </brake_group>
+            <retractable>0</retractable>
+        </contact>
+        <contact type="BOGEY" name="NOSE_LG">
+            <location unit="IN">
+                <x>10</x>
+                <y>0</y>
+                <z>-8.3</z>
+            </location>
+            <static_friction> 0.8 </static_friction>
+            <dynamic_friction> 0.5 </dynamic_friction>
+            <rolling_friction> 0.02 </rolling_friction>
+            <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+            <max_steer unit="DEG"> 360.0 </max_steer>
+            <brake_group> NONE </brake_group>
+            <retractable>0</retractable>
+        </contact>
+
+    </ground_reactions>
+
+    <propulsion>
+        <engine file="Zenoah_G-26A">
+            <location unit="IN">
+                <x> 36 </x>
+                <y> 0 </y>
+                <z> 0 </z>
+            </location>
+            <orient unit="DEG">
+                <roll> 0.0 </roll>
+                <pitch> 0 </pitch>
+                <yaw> 0 </yaw>
+            </orient>
+            <feed>0</feed>
+            <thruster file="18x8">
+                <location unit="IN">
+                    <x> 1 </x>
+                    <y> 0 </y>
+                    <z> 0 </z>
+                </location>
+                <orient unit="DEG">
+                    <roll> 0.0 </roll>
+                    <pitch> 0.0 </pitch>
+                    <yaw> 0.0 </yaw>
+                </orient>
+                <p_factor>1.0</p_factor>
+            </thruster>
+        </engine>
+        <tank type="FUEL">    <!-- Tank number 0 --> 
+            <location unit="IN">
+                <x> 36.36 </x>
+                <y> 0 </y>
+                <z> -1.89375 </z>
+            </location>
+            <capacity unit="LBS"> 1.5 </capacity>
+            <contents unit="LBS"> 1.5 </contents>
+        </tank>
+    </propulsion>
+
+    <flight_control name="FCS: rascal">
+     <channel name="All">
+
+        <summer name="Pitch Trim Sum">
+            <input>fcs/elevator-cmd-norm</input>
+            <input>fcs/pitch-trim-cmd-norm</input>
+            <clipto>
+                <min>-1</min>
+                <max>1</max>
+            </clipto>
+        </summer>
+
+        <aerosurface_scale name="Elevator Control">
+            <input>fcs/pitch-trim-sum</input>
+            <range>
+                <min>-0.35</min>
+                <max>0.3</max>
+            </range>
+            <output>fcs/elevator-pos-rad</output>
+        </aerosurface_scale>
+
+        <aerosurface_scale name="Elevator Normalized">
+            <input>fcs/elevator-pos-rad</input>
+            <domain>
+                <min>-0.3</min>
+                <max> 0.3</max>
+            </domain>
+            <range>
+                <min>-1</min>
+                <max> 1</max>
+            </range>
+            <output>fcs/elevator-pos-norm</output>
+        </aerosurface_scale>
+
+        <summer name="Roll Trim Sum">
+            <input>fcs/aileron-cmd-norm</input>
+            <input>fcs/roll-trim-cmd-norm</input>
+            <clipto>
+                <min>-1</min>
+                <max>1</max>
+            </clipto>
+        </summer>
+
+        <aerosurface_scale name="Left Aileron Control">
+            <input>fcs/roll-trim-sum</input>
+            <range>
+                <min>-0.35</min>
+                <max>0.35</max>
+            </range>
+            <output>fcs/left-aileron-pos-rad</output>
+        </aerosurface_scale>
+
+        <aerosurface_scale name="Right Aileron Control">
+            <input>-fcs/roll-trim-sum</input>
+            <range>
+                <min>-0.35</min>
+                <max>0.35</max>
+            </range>
+            <output>fcs/right-aileron-pos-rad</output>
+        </aerosurface_scale>
+
+        <aerosurface_scale name="Left aileron Normalized">
+            <input>fcs/left-aileron-pos-rad</input>
+            <domain>
+                <min>-0.35</min>
+                <max> 0.35</max>
+            </domain>
+            <range>
+                <min>-1</min>
+                <max> 1</max>
+            </range>
+            <output>fcs/left-aileron-pos-norm</output>
+        </aerosurface_scale>
+
+        <aerosurface_scale name="Right aileron Normalized">
+            <input>fcs/right-aileron-pos-rad</input>
+            <domain>
+                <min>-0.35</min>
+                <max> 0.35</max>
+            </domain>
+            <range>
+                <min>-1</min>
+                <max> 1</max>
+            </range>
+            <output>fcs/right-aileron-pos-norm</output>
+        </aerosurface_scale>
+
+        <summer name="Rudder Command Sum">
+            <input>fcs/rudder-cmd-norm</input>
+            <input>fcs/yaw-trim-cmd-norm</input>
+            <clipto>
+                <min>-1</min>
+                <max>1</max>
+            </clipto>
+        </summer>
+
+        <aerosurface_scale name="Rudder Control">
+            <input>fcs/rudder-command-sum</input>
+            <range>
+                <min>-0.35</min>
+                <max>0.35</max>
+            </range>
+            <output>fcs/rudder-pos-rad</output>
+        </aerosurface_scale>
+
+        <aerosurface_scale name="Rudder Normalized">
+            <input>fcs/rudder-pos-rad</input>
+            <domain>
+                <min>-0.35</min>
+                <max> 0.35</max>
+            </domain>
+            <range>
+                <min>-1</min>
+                <max> 1</max>
+            </range>
+            <output>fcs/rudder-pos-norm</output>
+        </aerosurface_scale>
+     </channel>
+    </flight_control>
+    <aerodynamics>
+
+        <axis name="DRAG">
+            <function name="aero/coefficient/CD0">
+                <description>Drag_at_zero_lift</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                      <table>
+                          <independentVar>aero/alpha-rad</independentVar>
+                          <tableData>
+                              -1.5700	1.5000	
+                              -0.2600	0.0560	
+                              0.0000	0.0280	
+                              0.2600	0.0560	
+                              1.5700	1.5000	
+                          </tableData>
+                      </table>
+                </product>
+            </function>
+            <function name="aero/coefficient/CDi">
+                <description>Induced_drag</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>aero/cl-squared</property>
+                    <value>0.0400</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/CDbeta">
+                <description>Drag_due_to_sideslip</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                      <table>
+                          <independentVar>aero/beta-rad</independentVar>
+                          <tableData>
+                              -1.5700	1.2300	
+                              -0.2600	0.0500	
+                              0.0000	0.0000	
+                              0.2600	0.0500	
+                              1.5700	1.2300	
+                          </tableData>
+                      </table>
+                </product>
+            </function>
+            <function name="aero/coefficient/CDde">
+                <description>Drag_due_to_Elevator_Deflection</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>fcs/elevator-pos-norm</property>
+                    <value>0.0300</value>
+                </product>
+            </function>
+        </axis>
+
+        <axis name="SIDE">
+            <function name="aero/coefficient/CYb">
+                <description>Side_force_due_to_beta</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>aero/beta-rad</property>
+                    <value>-1.0000</value>
+                </product>
+            </function>
+        </axis>
+
+        <axis name="LIFT">
+            <function name="aero/coefficient/CLalpha">
+                <description>Lift_due_to_alpha</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                      <table>
+                          <independentVar>aero/alpha-rad</independentVar>
+                          <tableData>
+                              -0.2000	-0.7500	
+                              0.0000	0.2500	
+                              0.2300	1.4000	
+                              0.6000	0.7100	
+                          </tableData>
+                      </table>
+                </product>
+            </function>
+            <function name="aero/coefficient/CLde">
+                <description>Lift_due_to_Elevator_Deflection</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>fcs/elevator-pos-rad</property>
+                    <value>0.2000</value>
+                </product>
+            </function>
+        </axis>
+
+        <axis name="ROLL">
+            <function name="aero/coefficient/Clb">
+                <description>Roll_moment_due_to_beta</description>
+                <!-- aka dihedral effect -->
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>aero/beta-rad</property>
+                    <value>-0.1000</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Clp">
+                <description>Roll_moment_due_to_roll_rate</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>aero/bi2vel</property>
+                    <property>velocities/p-aero-rad_sec</property>
+                    <value>-0.4000</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Clr">
+                <description>Roll_moment_due_to_yaw_rate</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>aero/bi2vel</property>
+                    <property>velocities/r-aero-rad_sec</property>
+                    <value>0.1500</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Clda">
+                <description>Roll_moment_due_to_aileron</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>fcs/left-aileron-pos-rad</property>
+                      <table>
+                          <independentVar>velocities/mach</independentVar>
+                          <tableData>
+                              0.0000	0.1300	
+                              2.0000	0.0570	
+                          </tableData>
+                      </table>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cldr">
+                <description>Roll_moment_due_to_rudder</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>fcs/rudder-pos-rad</property>
+                    <value>0.0100</value>
+                </product>
+            </function>
+        </axis>
+
+        <axis name="PITCH">
+            <function name="aero/coefficient/Cmalpha">
+                <description>Pitch_moment_due_to_alpha</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/cbarw-ft</property>
+                    <property>aero/alpha-rad</property>
+                    <value>-0.5000</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cmde">
+                <description>Pitch_moment_due_to_elevator</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/cbarw-ft</property>
+                    <property>fcs/elevator-pos-rad</property>
+                      <table>
+                          <independentVar>velocities/mach</independentVar>
+                          <tableData>
+                              0.0000	-0.5000	<!-- was -1.1 -->
+                              2.0000	-0.2750	
+                          </tableData>
+                      </table>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cmq">
+                <description>Pitch_moment_due_to_pitch_rate</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/cbarw-ft</property>
+                    <property>aero/ci2vel</property>
+                    <property>velocities/q-aero-rad_sec</property>
+                    <value>-12.0000</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cmadot">
+                <description>Pitch_moment_due_to_alpha_rate</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/cbarw-ft</property>
+                    <property>aero/ci2vel</property>
+                    <property>aero/alphadot-rad_sec</property>
+                    <value>-7.0000</value>
+                </product>
+            </function>
+        </axis>
+
+        <axis name="YAW">
+            <function name="aero/coefficient/Cnb">
+                <description>Yaw_moment_due_to_beta</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>aero/beta-rad</property>
+                    <value>0.1200</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cnr">
+                <description>Yaw_moment_due_to_yaw_rate</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>aero/bi2vel</property>
+                    <property>velocities/r-aero-rad_sec</property>
+                    <value>-0.1500</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cndr">
+                <description>Yaw_moment_due_to_rudder</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>fcs/rudder-pos-rad</property>
+                    <value>-0.0500</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cnda">
+                <description>Adverse_yaw</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <property>fcs/left-aileron-pos-rad</property>
+                    <value>-0.0300</value>
+                </product>
+            </function>
+            <function name="aero/coefficient/Cndi">
+                <description>Yaw_moment_due_to_tail_incidence</description>
+                <product>
+                    <property>aero/qbar-psf</property>
+                    <property>metrics/Sw-sqft</property>
+                    <property>metrics/bw-ft</property>
+                    <value>0.0007</value>
+                </product>
+            </function>
+        </axis>
+    </aerodynamics>
+</fdm_config>
diff --git a/conf/simulator/Malolo1/Models/Malolo1.ac b/conf/simulator/Malolo1/Models/Malolo1.ac
index 309c0947ef..0f20446ac7 100644
--- a/conf/simulator/Malolo1/Models/Malolo1.ac
+++ b/conf/simulator/Malolo1/Models/Malolo1.ac
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+data 8
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+crease 45.000000
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diff --git a/conf/simulator/Malolo1/Models/Malolo1.xml b/conf/simulator/Malolo1/Models/Malolo1.xml
index f418a12cb2..09144f72eb 100644
--- a/conf/simulator/Malolo1/Models/Malolo1.xml
+++ b/conf/simulator/Malolo1/Models/Malolo1.xml
@@ -1,103 +1,103 @@
-<?xml version="1.0"?>
-
-<PropertyList>
-
- <path>Malolo1.ac</path>
- <offsets>
-   <z-m>-0.01</z-m>
-   <pitch-deg>0.2</pitch-deg>
- </offsets>
-
- <animation>
-  <type>rotate</type>
-  <object-name>rhelevon</object-name>
-  <property>controls/flight/elevator</property>
-  <factor>15</factor>
-  <offset-deg>0</offset-deg>   
-  <center>
-   <x-m>0.65</x-m>
-   <y-m>1.4</y-m>
-   <z-m>0.07</z-m>
-  </center>
-  <axis>
-   <x>0.215</x>
-   <y>1</y>
-   <z>0.056</z>
-  </axis>
- </animation>
-
- <animation>
-  <type>rotate</type>
-  <object-name>rhelevon</object-name>
-  <property>controls/flight/aileron</property>
-  <factor>-15</factor>
-  <offset-deg>0</offset-deg>   
-  <center>
-   <x-m>0.65</x-m>
-   <y-m>1.4</y-m>
-   <z-m>0.07</z-m>
-  </center>
-  <axis>
-   <x>0.215</x>
-   <y>1</y>
-   <z>0.056</z>
-  </axis>
- </animation>
-
- <animation>
-  <type>rotate</type>
-  <object-name>lhelevon</object-name>
-  <property>controls/flight/elevator</property>
-  <factor>15</factor>
-  <offset-deg>0</offset-deg>   
-  <center>
-   <x-m>0.65</x-m>
-   <y-m>-1.4</y-m>
-   <z-m>0.07</z-m>
-  </center>
-  <axis>
-   <x>-0.215</x>
-   <y>1</y>
-   <z>-0.056</z>
-  </axis>
- </animation>
-
- <animation>
-  <type>rotate</type>
-  <object-name>lhelevon</object-name>
-  <property>controls/flight/aileron</property>
-  <factor>15</factor>
-  <offset-deg>0</offset-deg>   
-  <center>
-   <x-m>0.65</x-m>
-   <y-m>-1.4</y-m>
-   <z-m>0.07</z-m>
-  </center>
-  <axis>
-   <x>-0.215</x>
-   <y>1</y>
-   <z>-0.056</z>
-  </axis>
- </animation>
-
-
- <animation>
-  <type>spin</type>
-  <object-name>prop2</object-name>
-  <property>engines/engine/rpm</property>
-  <factor>-0.2</factor>   
-  <center>
-   <x-m>0</x-m>
-   <y-m>0</y-m>
-   <z-m>0.0156</z-m>
-  </center>
-  <axis>
-   <x>1</x>
-   <y>0</y>
-   <z>0</z>
-  </axis>
- </animation>
-
-
-  
-</PropertyList>
+<?xml version="1.0"?>
+
+<PropertyList>
+
+ <path>Malolo1.ac</path>
+ <offsets>
+   <z-m>-0.01</z-m>
+   <pitch-deg>0.2</pitch-deg>
+ </offsets>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>rhelevon</object-name>
+  <property>controls/flight/elevator</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>0.215</x>
+   <y>1</y>
+   <z>0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>rhelevon</object-name>
+  <property>controls/flight/aileron</property>
+  <factor>-15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>0.215</x>
+   <y>1</y>
+   <z>0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>lhelevon</object-name>
+  <property>controls/flight/elevator</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>-1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>-0.215</x>
+   <y>1</y>
+   <z>-0.056</z>
+  </axis>
+ </animation>
+
+ <animation>
+  <type>rotate</type>
+  <object-name>lhelevon</object-name>
+  <property>controls/flight/aileron</property>
+  <factor>15</factor>
+  <offset-deg>0</offset-deg>   
+  <center>
+   <x-m>0.65</x-m>
+   <y-m>-1.4</y-m>
+   <z-m>0.07</z-m>
+  </center>
+  <axis>
+   <x>-0.215</x>
+   <y>1</y>
+   <z>-0.056</z>
+  </axis>
+ </animation>
+
+
+ <animation>
+  <type>spin</type>
+  <object-name>prop2</object-name>
+  <property>engines/engine/rpm</property>
+  <factor>-0.2</factor>   
+  <center>
+   <x-m>0</x-m>
+   <y-m>0</y-m>
+   <z-m>0.0156</z-m>
+  </center>
+  <axis>
+   <x>1</x>
+   <y>0</y>
+   <z>0</z>
+  </axis>
+ </animation>
+
+
+  
+</PropertyList>
diff --git a/conf/system/udev/rules/1-jtag-rule.rules b/conf/system/udev/rules/1-jtag-rule.rules
index 37dc831e1d..8a60e15db4 100644
--- a/conf/system/udev/rules/1-jtag-rule.rules
+++ b/conf/system/udev/rules/1-jtag-rule.rules
@@ -1,4 +1,4 @@
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010",
-MODE="0666", GROUP="plugdev"
-
-in the udev rules
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010",
+MODE="0666", GROUP="plugdev"
+
+in the udev rules
diff --git a/sw/airborne/arch/lpc21/efsl/conf/config.h b/sw/airborne/arch/lpc21/efsl/conf/config.h
index 73d2d4ac78..fcb34982d1 100644
--- a/sw/airborne/arch/lpc21/efsl/conf/config.h
+++ b/sw/airborne/arch/lpc21/efsl/conf/config.h
@@ -15,7 +15,7 @@
 */
 
 	/*#define HW_ENDPOINT_LINUX*/
-	/*#define HW_ENDPOINT_ATMEGA128_SD*/
+	/*#define HW_ENDPOINT_ATMEGA128_SD*/
 
 
 	#define HW_ENDPOINT_LPC2000_SD
diff --git a/sw/airborne/arch/lpc21/efsl/inc/interfaces/LPC2000_regs.h b/sw/airborne/arch/lpc21/efsl/inc/interfaces/LPC2000_regs.h
index 2f1bca11a4..15d0e973fa 100644
--- a/sw/airborne/arch/lpc21/efsl/inc/interfaces/LPC2000_regs.h
+++ b/sw/airborne/arch/lpc21/efsl/inc/interfaces/LPC2000_regs.h
@@ -1,72 +1,72 @@
-/* based on LPC213x.h from Keil GmbH (keil.com/arm.com)  */
-
-#ifndef LPC2000_regs_h
-#define LPC2000_regs_h
-
-/* Pin Connect Block */
-#define PINSEL0        (*((volatile unsigned long *) 0xE002C000))
-#define PINSEL1        (*((volatile unsigned long *) 0xE002C004))
-#define PINSEL2        (*((volatile unsigned long *) 0xE002C014))
-
-/* General Purpose Input/Output (GPIO) */
-#define IOPIN0         (*((volatile unsigned long *) 0xE0028000))
-#define IOSET0         (*((volatile unsigned long *) 0xE0028004))
-#define IODIR0         (*((volatile unsigned long *) 0xE0028008))
-#define IOCLR0         (*((volatile unsigned long *) 0xE002800C))
-#define IOPIN1         (*((volatile unsigned long *) 0xE0028010))
-#define IOSET1         (*((volatile unsigned long *) 0xE0028014))
-#define IODIR1         (*((volatile unsigned long *) 0xE0028018))
-#define IOCLR1         (*((volatile unsigned long *) 0xE002801C))
-
-/* SPI0 (Serial Peripheral Interface 0) */
-#define S0SPCR         (*((volatile unsigned char *) 0xE0020000))
-#define S0SPSR         (*((volatile unsigned char *) 0xE0020004))
-#define S0SPDR         (*((volatile unsigned char *) 0xE0020008))
-#define S0SPCCR        (*((volatile unsigned char *) 0xE002000C))
-#define S0SPTCR        (*((volatile unsigned char *) 0xE0020010))
-#define S0SPTSR        (*((volatile unsigned char *) 0xE0020014))
-#define S0SPTOR        (*((volatile unsigned char *) 0xE0020018))
-#define S0SPINT        (*((volatile unsigned char *) 0xE002001C))
-
-/* SSP Controller */
-#define SSPCR0         (*((volatile unsigned short* ) 0xE0068000))
-#define SSPCR1         (*((volatile unsigned char * ) 0xE0068004))
-#define SSPDR          (*((volatile unsigned short* ) 0xE0068008))
-#define SSPSR          (*((volatile unsigned char * ) 0xE006800C))
-#define SSPCPSR        (*((volatile unsigned char * ) 0xE0068010))
-#define SSPIMSC        (*((volatile unsigned char * ) 0xE0068014))
-#define SSPRIS         (*((volatile unsigned char * ) 0xE0068018))
-#define SSPMIS         (*((volatile unsigned char * ) 0xE006801C))
-#define SSPICR         (*((volatile unsigned char * ) 0xE0068020))
-#define SSPDMACR       (*((volatile unsigned char * ) 0xE0068024))
-
-/* Real Time Clock */
-/* maybe useful for the efsl time-handling : */
-#define ILR            (*((volatile unsigned char *) 0xE0024000))
-#define CTC            (*((volatile unsigned short*) 0xE0024004))
-#define CCR            (*((volatile unsigned char *) 0xE0024008))
-#define CIIR           (*((volatile unsigned char *) 0xE002400C))
-#define AMR            (*((volatile unsigned char *) 0xE0024010))
-#define CTIME0         (*((volatile unsigned long *) 0xE0024014))
-#define CTIME1         (*((volatile unsigned long *) 0xE0024018))
-#define CTIME2         (*((volatile unsigned long *) 0xE002401C))
-#define SEC            (*((volatile unsigned char *) 0xE0024020))
-#define MIN            (*((volatile unsigned char *) 0xE0024024))
-#define HOUR           (*((volatile unsigned char *) 0xE0024028))
-#define DOM            (*((volatile unsigned char *) 0xE002402C))
-#define DOW            (*((volatile unsigned char *) 0xE0024030))
-#define DOY            (*((volatile unsigned short*) 0xE0024034))
-#define MONTH          (*((volatile unsigned char *) 0xE0024038))
-#define YEAR           (*((volatile unsigned short*) 0xE002403C))
-#define ALSEC          (*((volatile unsigned char *) 0xE0024060))
-#define ALMIN          (*((volatile unsigned char *) 0xE0024064))
-#define ALHOUR         (*((volatile unsigned char *) 0xE0024068))
-#define ALDOM          (*((volatile unsigned char *) 0xE002406C))
-#define ALDOW          (*((volatile unsigned char *) 0xE0024070))
-#define ALDOY          (*((volatile unsigned short*) 0xE0024074))
-#define ALMON          (*((volatile unsigned char *) 0xE0024078))
-#define ALYEAR         (*((volatile unsigned short*) 0xE002407C))
-#define PREINT         (*((volatile unsigned short*) 0xE0024080))
-#define PREFRAC        (*((volatile unsigned short*) 0xE0024084))
-
-#endif 
+/* based on LPC213x.h from Keil GmbH (keil.com/arm.com)  */
+
+#ifndef LPC2000_regs_h
+#define LPC2000_regs_h
+
+/* Pin Connect Block */
+#define PINSEL0        (*((volatile unsigned long *) 0xE002C000))
+#define PINSEL1        (*((volatile unsigned long *) 0xE002C004))
+#define PINSEL2        (*((volatile unsigned long *) 0xE002C014))
+
+/* General Purpose Input/Output (GPIO) */
+#define IOPIN0         (*((volatile unsigned long *) 0xE0028000))
+#define IOSET0         (*((volatile unsigned long *) 0xE0028004))
+#define IODIR0         (*((volatile unsigned long *) 0xE0028008))
+#define IOCLR0         (*((volatile unsigned long *) 0xE002800C))
+#define IOPIN1         (*((volatile unsigned long *) 0xE0028010))
+#define IOSET1         (*((volatile unsigned long *) 0xE0028014))
+#define IODIR1         (*((volatile unsigned long *) 0xE0028018))
+#define IOCLR1         (*((volatile unsigned long *) 0xE002801C))
+
+/* SPI0 (Serial Peripheral Interface 0) */
+#define S0SPCR         (*((volatile unsigned char *) 0xE0020000))
+#define S0SPSR         (*((volatile unsigned char *) 0xE0020004))
+#define S0SPDR         (*((volatile unsigned char *) 0xE0020008))
+#define S0SPCCR        (*((volatile unsigned char *) 0xE002000C))
+#define S0SPTCR        (*((volatile unsigned char *) 0xE0020010))
+#define S0SPTSR        (*((volatile unsigned char *) 0xE0020014))
+#define S0SPTOR        (*((volatile unsigned char *) 0xE0020018))
+#define S0SPINT        (*((volatile unsigned char *) 0xE002001C))
+
+/* SSP Controller */
+#define SSPCR0         (*((volatile unsigned short* ) 0xE0068000))
+#define SSPCR1         (*((volatile unsigned char * ) 0xE0068004))
+#define SSPDR          (*((volatile unsigned short* ) 0xE0068008))
+#define SSPSR          (*((volatile unsigned char * ) 0xE006800C))
+#define SSPCPSR        (*((volatile unsigned char * ) 0xE0068010))
+#define SSPIMSC        (*((volatile unsigned char * ) 0xE0068014))
+#define SSPRIS         (*((volatile unsigned char * ) 0xE0068018))
+#define SSPMIS         (*((volatile unsigned char * ) 0xE006801C))
+#define SSPICR         (*((volatile unsigned char * ) 0xE0068020))
+#define SSPDMACR       (*((volatile unsigned char * ) 0xE0068024))
+
+/* Real Time Clock */
+/* maybe useful for the efsl time-handling : */
+#define ILR            (*((volatile unsigned char *) 0xE0024000))
+#define CTC            (*((volatile unsigned short*) 0xE0024004))
+#define CCR            (*((volatile unsigned char *) 0xE0024008))
+#define CIIR           (*((volatile unsigned char *) 0xE002400C))
+#define AMR            (*((volatile unsigned char *) 0xE0024010))
+#define CTIME0         (*((volatile unsigned long *) 0xE0024014))
+#define CTIME1         (*((volatile unsigned long *) 0xE0024018))
+#define CTIME2         (*((volatile unsigned long *) 0xE002401C))
+#define SEC            (*((volatile unsigned char *) 0xE0024020))
+#define MIN            (*((volatile unsigned char *) 0xE0024024))
+#define HOUR           (*((volatile unsigned char *) 0xE0024028))
+#define DOM            (*((volatile unsigned char *) 0xE002402C))
+#define DOW            (*((volatile unsigned char *) 0xE0024030))
+#define DOY            (*((volatile unsigned short*) 0xE0024034))
+#define MONTH          (*((volatile unsigned char *) 0xE0024038))
+#define YEAR           (*((volatile unsigned short*) 0xE002403C))
+#define ALSEC          (*((volatile unsigned char *) 0xE0024060))
+#define ALMIN          (*((volatile unsigned char *) 0xE0024064))
+#define ALHOUR         (*((volatile unsigned char *) 0xE0024068))
+#define ALDOM          (*((volatile unsigned char *) 0xE002406C))
+#define ALDOW          (*((volatile unsigned char *) 0xE0024070))
+#define ALDOY          (*((volatile unsigned short*) 0xE0024074))
+#define ALMON          (*((volatile unsigned char *) 0xE0024078))
+#define ALYEAR         (*((volatile unsigned short*) 0xE002407C))
+#define PREINT         (*((volatile unsigned short*) 0xE0024080))
+#define PREFRAC        (*((volatile unsigned short*) 0xE0024084))
+
+#endif 
diff --git a/sw/airborne/arch/lpc21/efsl/inc/interfaces/sd.h b/sw/airborne/arch/lpc21/efsl/inc/interfaces/sd.h
index 541937a732..3b5a797f61 100644
--- a/sw/airborne/arch/lpc21/efsl/inc/interfaces/sd.h
+++ b/sw/airborne/arch/lpc21/efsl/inc/interfaces/sd.h
@@ -1,66 +1,66 @@
-/*****************************************************************************\
-*              efs - General purpose Embedded Filesystem library              *
-*          ---------------------------------------------------------          *
-*                                                                             *
-* Filename :  sd.h                                                            *
-* Revision :  Initial developement                                            *
-* Description : Headerfile for sd.c                                           *
-*                                                                             *
-* This program is free software; you can redistribute it and/or               *
-* modify it under the terms of the GNU General Public License                 *
-* as published by the Free Software Foundation; version 2                     *
-* of the License.                                                             *
-                                                                              *
-* This program 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.                                *
-*                                                                             *
-* As a special exception, if other files instantiate templates or             *
-* use macros or inline functions from this file, or you compile this          *
-* file and link it with other works to produce a work based on this file,     *
-* this file does not by itself cause the resulting work to be covered         *
-* by the GNU General Public License. However the source code for this         *
-* file must still be made available in accordance with section (3) of         *
-* the GNU General Public License.                                             *
-*                                                                             *
-* This exception does not invalidate any other reasons why a work based       *
-* on this file might be covered by the GNU General Public License.            *
-*                                                                             *
-*                                                    (c)2006 Lennart Yseboodt *
-*                                                    (c)2006 Michael De Nil   *
-\*****************************************************************************/
-
-#ifndef __SD_H_ 
-#define __SD_H_ 
-
-#include "config.h"
-#include "types.h"
-#include "../debug.h"
-
-#ifdef HW_ENDPOINT_ATMEGA128_SD
-	#include "interfaces/atmega128.h"
-#endif
-#ifdef HW_ENDPOINT_DSP_TI6713_SD
-	#include "interfaces/dsp67xx.h"
-#endif
-#ifdef HW_ENDPOINT_LPC2000_SD
-	#include "interfaces/lpc2000_spi.h"
-#endif
-
-#define	CMDREAD		17
-#define	CMDWRITE	24
-#define	CMDREADCSD       9
-
-esint8  sd_Init(hwInterface *iface);
-void sd_Command(hwInterface *iface,euint8 cmd, euint16 paramx, euint16 paramy);
-euint8 sd_Resp8b(hwInterface *iface);
-void sd_Resp8bError(hwInterface *iface,euint8 value);
-euint16 sd_Resp16b(hwInterface *iface);
-esint8 sd_State(hwInterface *iface);
-
-esint8 sd_readSector(hwInterface *iface,euint32 address,euint8* buf, euint16 len);
-esint8 sd_writeSector(hwInterface *iface,euint32 address, euint8* buf);
-esint8 sd_getDriveSize(hwInterface *iface, euint32* drive_size );
-
-#endif
+/*****************************************************************************\
+*              efs - General purpose Embedded Filesystem library              *
+*          ---------------------------------------------------------          *
+*                                                                             *
+* Filename :  sd.h                                                            *
+* Revision :  Initial developement                                            *
+* Description : Headerfile for sd.c                                           *
+*                                                                             *
+* This program is free software; you can redistribute it and/or               *
+* modify it under the terms of the GNU General Public License                 *
+* as published by the Free Software Foundation; version 2                     *
+* of the License.                                                             *
+                                                                              *
+* This program 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.                                *
+*                                                                             *
+* As a special exception, if other files instantiate templates or             *
+* use macros or inline functions from this file, or you compile this          *
+* file and link it with other works to produce a work based on this file,     *
+* this file does not by itself cause the resulting work to be covered         *
+* by the GNU General Public License. However the source code for this         *
+* file must still be made available in accordance with section (3) of         *
+* the GNU General Public License.                                             *
+*                                                                             *
+* This exception does not invalidate any other reasons why a work based       *
+* on this file might be covered by the GNU General Public License.            *
+*                                                                             *
+*                                                    (c)2006 Lennart Yseboodt *
+*                                                    (c)2006 Michael De Nil   *
+\*****************************************************************************/
+
+#ifndef __SD_H_ 
+#define __SD_H_ 
+
+#include "config.h"
+#include "types.h"
+#include "../debug.h"
+
+#ifdef HW_ENDPOINT_ATMEGA128_SD
+	#include "interfaces/atmega128.h"
+#endif
+#ifdef HW_ENDPOINT_DSP_TI6713_SD
+	#include "interfaces/dsp67xx.h"
+#endif
+#ifdef HW_ENDPOINT_LPC2000_SD
+	#include "interfaces/lpc2000_spi.h"
+#endif
+
+#define	CMDREAD		17
+#define	CMDWRITE	24
+#define	CMDREADCSD       9
+
+esint8  sd_Init(hwInterface *iface);
+void sd_Command(hwInterface *iface,euint8 cmd, euint16 paramx, euint16 paramy);
+euint8 sd_Resp8b(hwInterface *iface);
+void sd_Resp8bError(hwInterface *iface,euint8 value);
+euint16 sd_Resp16b(hwInterface *iface);
+esint8 sd_State(hwInterface *iface);
+
+esint8 sd_readSector(hwInterface *iface,euint32 address,euint8* buf, euint16 len);
+esint8 sd_writeSector(hwInterface *iface,euint32 address, euint8* buf);
+esint8 sd_getDriveSize(hwInterface *iface, euint32* drive_size );
+
+#endif
diff --git a/sw/airborne/arch/lpc21/efsl/src/interfaces/sd.c b/sw/airborne/arch/lpc21/efsl/src/interfaces/sd.c
index 90a02b28e9..e9d2938f77 100644
--- a/sw/airborne/arch/lpc21/efsl/src/interfaces/sd.c
+++ b/sw/airborne/arch/lpc21/efsl/src/interfaces/sd.c
@@ -1,352 +1,352 @@
-/*****************************************************************************\
-*              efs - General purpose Embedded Filesystem library              *
-*          --------------------- -----------------------------------          *
-*                                                                             *
-* Filename : sd.c                                                             *
-* Revision : Initial developement                                             *
-* Description : This file contains the functions needed to use efs for        *
-*               accessing files on an SD-card.                                *
-*                                                                             *
-* This program is free software; you can redistribute it and/or               *
-* modify it under the terms of the GNU General Public License                 *
-* as published by the Free Software Foundation; version 2                     *
-* of the License.                                                             *
-                                                                              *
-* This program 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.                                *
-*                                                                             *
-* As a special exception, if other files instantiate templates or             *
-* use macros or inline functions from this file, or you compile this          *
-* file and link it with other works to produce a work based on this file,     *
-* this file does not by itself cause the resulting work to be covered         *
-* by the GNU General Public License. However the source code for this         *
-* file must still be made available in accordance with section (3) of         *
-* the GNU General Public License.                                             *
-*                                                                             *
-* This exception does not invalidate any other reasons why a work based       *
-* on this file might be covered by the GNU General Public License.            *
-*                                                                             *
-*                                                    (c)2006 Lennart Yseboodt *
-*                                                    (c)2006 Michael De Nil   *
-\*****************************************************************************/
-
-/*****************************************************************************/
-#include "interfaces/sd.h"
-/*****************************************************************************/
-
-esint8 sd_Init(hwInterface *iface)
-{
-	esint16 i;
-	euint8 resp;
-	
-	/* Try to send reset command up to 100 times */
-	i=100;
-	do{
-		sd_Command(iface,0, 0, 0);
-		resp=sd_Resp8b(iface);
-	}
-	while(resp!=1 && i--);
-	
-	if(resp!=1){
-		if(resp==0xff){
-			return(-1);
-		}
-		else{
-			sd_Resp8bError(iface,resp);
-			return(-2);
-		}
-	}
-
-	/* Wait till card is ready initialising (returns 0 on CMD1) */
-	/* Try up to 32000 times. */
-	i=32000;
-	do{
-		sd_Command(iface,1, 0, 0);
-		
-		resp=sd_Resp8b(iface);
-		if(resp!=0)
-			sd_Resp8bError(iface,resp);
-	}
-	while(resp==1 && i--);
-	
-	if(resp!=0){
-		sd_Resp8bError(iface,resp);
-		return(-3);
-	}
-	
-	return(0);
-}
-/*****************************************************************************/
-
-void sd_Command(hwInterface *iface,euint8 cmd, euint16 paramx, euint16 paramy)
-{
-	if_spiSend(iface,0xff);
-
-	if_spiSend(iface,0x40 | cmd);
-	if_spiSend(iface,(euint8) (paramx >> 8)); /* MSB of parameter x */
-	if_spiSend(iface,(euint8) (paramx)); /* LSB of parameter x */
-	if_spiSend(iface,(euint8) (paramy >> 8)); /* MSB of parameter y */
-	if_spiSend(iface,(euint8) (paramy)); /* LSB of parameter y */
-
-	if_spiSend(iface,0x95); /* Checksum (should be only valid for first command (0) */
-
-	if_spiSend(iface,0xff); /* eat empty command - response */
-}
-/*****************************************************************************/
-
-euint8 sd_Resp8b(hwInterface *iface)
-{
-	euint8 i;
-	euint8 resp;
-	
-	/* Respone will come after 1 - 8 pings */
-	for(i=0;i<8;i++){
-		resp = if_spiSend(iface,0xff);
-		if(resp != 0xff)
-			return(resp);
-	}
-		
-	return(resp);
-}
-/*****************************************************************************/
-
-euint16 sd_Resp16b(hwInterface *iface)
-{
-	euint16 resp;
-	
-	resp = ( sd_Resp8b(iface) << 8 ) & 0xff00;
-	resp |= if_spiSend(iface,0xff);
-	
-	return(resp);
-}
-/*****************************************************************************/
-
-void sd_Resp8bError(hwInterface *iface,euint8 value)
-{
-	switch(value)
-	{
-		case 0x40:
-			DBG((TXT("Argument out of bounds.\n")));
-			break;
-		case 0x20:
-			DBG((TXT("Address out of bounds.\n")));
-			break;
-		case 0x10:
-			DBG((TXT("Error during erase sequence.\n")));
-			break;
-		case 0x08:
-			DBG((TXT("CRC failed.\n")));
-			break;
-		case 0x04:
-			DBG((TXT("Illegal command.\n")));
-			break;
-		case 0x02:
-			DBG((TXT("Erase reset (see SanDisk docs p5-13).\n")));
-			break;
-		case 0x01:
-			DBG((TXT("Card is initialising.\n")));
-			break;
-		default:
-			DBG((TXT("Unknown error 0x%x (see SanDisk docs p5-13).\n"),value));
-			break;
-	}
-}
-/*****************************************************************************/
-
-esint8 sd_State(hwInterface *iface)
-{
-	eint16 value;
-	
-	sd_Command(iface,13, 0, 0);
-	value=sd_Resp16b(iface);
-
-	switch(value)
-	{
-		case 0x000:
-			return(1);
-			break;
-		case 0x0001:
-			DBG((TXT("Card is Locked.\n")));
-			break;
-		case 0x0002:
-			DBG((TXT("WP Erase Skip, Lock/Unlock Cmd Failed.\n")));
-			break;
-		case 0x0004:
-			DBG((TXT("General / Unknown error -- card broken?.\n")));
-			break;
-		case 0x0008:
-			DBG((TXT("Internal card controller error.\n")));
-			break;
-		case 0x0010:
-			DBG((TXT("Card internal ECC was applied, but failed to correct the data.\n")));
-			break;
-		case 0x0020:
-			DBG((TXT("Write protect violation.\n")));
-			break;
-		case 0x0040:
-			DBG((TXT("An invalid selection, sectors for erase.\n")));
-			break;
-		case 0x0080:
-			DBG((TXT("Out of Range, CSD_Overwrite.\n")));
-			break;
-		default:
-			if(value>0x00FF)
-				sd_Resp8bError(iface,(euint8) (value>>8));
-			else
-				DBG((TXT("Unknown error: 0x%x (see SanDisk docs p5-14).\n"),value));
-			break;
-	}
-	return(-1);
-}
-/*****************************************************************************/
-
-/* ****************************************************************************
- * WAIT ?? -- FIXME
- * CMDWRITE
- * WAIT
- * CARD RESP
- * WAIT
- * DATA BLOCK OUT
- *      START BLOCK
- *      DATA
- *      CHKS (2B)
- * BUSY...
- */
-
-esint8 sd_writeSector(hwInterface *iface,euint32 address, euint8* buf)
-{
-	euint32 place;
-	euint16 i;
-	euint16 t=0;
-	
-	/*DBG((TXT("Trying to write %u to sector %u.\n"),(void *)&buf,address));*/
-	place=512*address;
-	sd_Command(iface,CMDWRITE, (euint16) (place >> 16), (euint16) place);
-
-	sd_Resp8b(iface); /* Card response */
-
-	if_spiSend(iface,0xfe); /* Start block */
-	for(i=0;i<512;i++) 
-		if_spiSend(iface,buf[i]); /* Send data */
-	if_spiSend(iface,0xff); /* Checksum part 1 */
-	if_spiSend(iface,0xff); /* Checksum part 2 */
-
-	if_spiSend(iface,0xff);
-
-	while(if_spiSend(iface,0xff)!=0xff){
-		t++;
-		/* Removed NOP */
-	}
-	/*DBG((TXT("Nopp'ed %u times.\n"),t));*/
-
-	return(0);
-}
-/*****************************************************************************/
-
-/* ****************************************************************************
- * WAIT ?? -- FIXME
- * CMDCMD
- * WAIT
- * CARD RESP
- * WAIT
- * DATA BLOCK IN
- * 		START BLOCK
- * 		DATA
- * 		CHKS (2B)
- */
-
-esint8 sd_readSector(hwInterface *iface,euint32 address, euint8* buf, euint16 len)
-{
-	euint8 cardresp;
-	euint8 firstblock;
-	euint8 c;
-	euint16 fb_timeout=0xffff;
-	euint32 i;
-	euint32 place;
-
-	/*DBG((TXT("sd_readSector::Trying to read sector %u and store it at %p.\n"),address,&buf[0]));*/
-	place=512*address;
-	sd_Command(iface,CMDREAD, (euint16) (place >> 16), (euint16) place);
-	
-	cardresp=sd_Resp8b(iface); /* Card response */ 
-
-	/* Wait for startblock */
-	do
-		firstblock=sd_Resp8b(iface); 
-	while(firstblock==0xff && fb_timeout--);
-
-	if(cardresp!=0x00 || firstblock!=0xfe){
-		sd_Resp8bError(iface,firstblock);
-		return(-1);
-	}
-	
-	for(i=0;i<512;i++){
-		c = if_spiSend(iface,0xff);
-		if(i<len)
-			buf[i] = c;
-	}
-
-	/* Checksum (2 byte) - ignore for now */
-	if_spiSend(iface,0xff);
-	if_spiSend(iface,0xff);
-
-	return(0);
-}
-/*****************************************************************************/
-
-/* ****************************************************************************
- calculates size of card from CSD 
- (extension by Martin Thomas, inspired by code from Holger Klabunde)
- */
-esint8 sd_getDriveSize(hwInterface *iface, euint32* drive_size )
-{
-	euint8 cardresp, i, by;
-	euint8 iob[16];
-	euint16 c_size, c_size_mult, read_bl_len;
-	
-	sd_Command(iface, CMDREADCSD, 0, 0);
-	
-	do {
-		cardresp = sd_Resp8b(iface);
-	} while ( cardresp != 0xFE );
-
-	DBG((TXT("CSD:")));
-	for( i=0; i<16; i++) {
-		iob[i] = sd_Resp8b(iface);
-		DBG((TXT(" %02x"), iob[i]));
-	}
-	DBG((TXT("\n")));
-
-	if_spiSend(iface,0xff);
-	if_spiSend(iface,0xff);
-	
-	c_size = iob[6] & 0x03; // bits 1..0
-	c_size <<= 10;
-	c_size += (euint16)iob[7]<<2;
-	c_size += iob[8]>>6;
+/*****************************************************************************\
+*              efs - General purpose Embedded Filesystem library              *
+*          --------------------- -----------------------------------          *
+*                                                                             *
+* Filename : sd.c                                                             *
+* Revision : Initial developement                                             *
+* Description : This file contains the functions needed to use efs for        *
+*               accessing files on an SD-card.                                *
+*                                                                             *
+* This program is free software; you can redistribute it and/or               *
+* modify it under the terms of the GNU General Public License                 *
+* as published by the Free Software Foundation; version 2                     *
+* of the License.                                                             *
+                                                                              *
+* This program 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.                                *
+*                                                                             *
+* As a special exception, if other files instantiate templates or             *
+* use macros or inline functions from this file, or you compile this          *
+* file and link it with other works to produce a work based on this file,     *
+* this file does not by itself cause the resulting work to be covered         *
+* by the GNU General Public License. However the source code for this         *
+* file must still be made available in accordance with section (3) of         *
+* the GNU General Public License.                                             *
+*                                                                             *
+* This exception does not invalidate any other reasons why a work based       *
+* on this file might be covered by the GNU General Public License.            *
+*                                                                             *
+*                                                    (c)2006 Lennart Yseboodt *
+*                                                    (c)2006 Michael De Nil   *
+\*****************************************************************************/
 
-DBG((TXT(" c_size %d"), c_size));
-
-	by= iob[5] & 0x0F;
-	read_bl_len = 1;
-	read_bl_len <<= by;
+/*****************************************************************************/
+#include "interfaces/sd.h"
+/*****************************************************************************/
 
-DBG((TXT(" read_bl_len %d"), read_bl_len));
-
-	by=iob[9] & 0x03;
-	by <<= 1;
-	by += iob[10] >> 7;
+esint8 sd_Init(hwInterface *iface)
+{
+	esint16 i;
+	euint8 resp;
+	
+	/* Try to send reset command up to 100 times */
+	i=100;
+	do{
+		sd_Command(iface,0, 0, 0);
+		resp=sd_Resp8b(iface);
+	}
+	while(resp!=1 && i--);
+	
+	if(resp!=1){
+		if(resp==0xff){
+			return(-1);
+		}
+		else{
+			sd_Resp8bError(iface,resp);
+			return(-2);
+		}
+	}
 
-DBG((TXT(" by %d"), by));
-
-	c_size_mult = 1;
+	/* Wait till card is ready initialising (returns 0 on CMD1) */
+	/* Try up to 32000 times. */
+	i=32000;
+	do{
+		sd_Command(iface,1, 0, 0);
+		
+		resp=sd_Resp8b(iface);
+		if(resp!=0)
+			sd_Resp8bError(iface,resp);
+	}
+	while(resp==1 && i--);
+	
+	if(resp!=0){
+		sd_Resp8bError(iface,resp);
+		return(-3);
+	}
+	
+	return(0);
+}
+/*****************************************************************************/
+
+void sd_Command(hwInterface *iface,euint8 cmd, euint16 paramx, euint16 paramy)
+{
+	if_spiSend(iface,0xff);
+
+	if_spiSend(iface,0x40 | cmd);
+	if_spiSend(iface,(euint8) (paramx >> 8)); /* MSB of parameter x */
+	if_spiSend(iface,(euint8) (paramx)); /* LSB of parameter x */
+	if_spiSend(iface,(euint8) (paramy >> 8)); /* MSB of parameter y */
+	if_spiSend(iface,(euint8) (paramy)); /* LSB of parameter y */
+
+	if_spiSend(iface,0x95); /* Checksum (should be only valid for first command (0) */
+
+	if_spiSend(iface,0xff); /* eat empty command - response */
+}
+/*****************************************************************************/
+
+euint8 sd_Resp8b(hwInterface *iface)
+{
+	euint8 i;
+	euint8 resp;
+	
+	/* Respone will come after 1 - 8 pings */
+	for(i=0;i<8;i++){
+		resp = if_spiSend(iface,0xff);
+		if(resp != 0xff)
+			return(resp);
+	}
+		
+	return(resp);
+}
+/*****************************************************************************/
+
+euint16 sd_Resp16b(hwInterface *iface)
+{
+	euint16 resp;
+	
+	resp = ( sd_Resp8b(iface) << 8 ) & 0xff00;
+	resp |= if_spiSend(iface,0xff);
+	
+	return(resp);
+}
+/*****************************************************************************/
+
+void sd_Resp8bError(hwInterface *iface,euint8 value)
+{
+	switch(value)
+	{
+		case 0x40:
+			DBG((TXT("Argument out of bounds.\n")));
+			break;
+		case 0x20:
+			DBG((TXT("Address out of bounds.\n")));
+			break;
+		case 0x10:
+			DBG((TXT("Error during erase sequence.\n")));
+			break;
+		case 0x08:
+			DBG((TXT("CRC failed.\n")));
+			break;
+		case 0x04:
+			DBG((TXT("Illegal command.\n")));
+			break;
+		case 0x02:
+			DBG((TXT("Erase reset (see SanDisk docs p5-13).\n")));
+			break;
+		case 0x01:
+			DBG((TXT("Card is initialising.\n")));
+			break;
+		default:
+			DBG((TXT("Unknown error 0x%x (see SanDisk docs p5-13).\n"),value));
+			break;
+	}
+}
+/*****************************************************************************/
+
+esint8 sd_State(hwInterface *iface)
+{
+	eint16 value;
+	
+	sd_Command(iface,13, 0, 0);
+	value=sd_Resp16b(iface);
+
+	switch(value)
+	{
+		case 0x000:
+			return(1);
+			break;
+		case 0x0001:
+			DBG((TXT("Card is Locked.\n")));
+			break;
+		case 0x0002:
+			DBG((TXT("WP Erase Skip, Lock/Unlock Cmd Failed.\n")));
+			break;
+		case 0x0004:
+			DBG((TXT("General / Unknown error -- card broken?.\n")));
+			break;
+		case 0x0008:
+			DBG((TXT("Internal card controller error.\n")));
+			break;
+		case 0x0010:
+			DBG((TXT("Card internal ECC was applied, but failed to correct the data.\n")));
+			break;
+		case 0x0020:
+			DBG((TXT("Write protect violation.\n")));
+			break;
+		case 0x0040:
+			DBG((TXT("An invalid selection, sectors for erase.\n")));
+			break;
+		case 0x0080:
+			DBG((TXT("Out of Range, CSD_Overwrite.\n")));
+			break;
+		default:
+			if(value>0x00FF)
+				sd_Resp8bError(iface,(euint8) (value>>8));
+			else
+				DBG((TXT("Unknown error: 0x%x (see SanDisk docs p5-14).\n"),value));
+			break;
+	}
+	return(-1);
+}
+/*****************************************************************************/
+
+/* ****************************************************************************
+ * WAIT ?? -- FIXME
+ * CMDWRITE
+ * WAIT
+ * CARD RESP
+ * WAIT
+ * DATA BLOCK OUT
+ *      START BLOCK
+ *      DATA
+ *      CHKS (2B)
+ * BUSY...
+ */
+
+esint8 sd_writeSector(hwInterface *iface,euint32 address, euint8* buf)
+{
+	euint32 place;
+	euint16 i;
+	euint16 t=0;
+	
+	/*DBG((TXT("Trying to write %u to sector %u.\n"),(void *)&buf,address));*/
+	place=512*address;
+	sd_Command(iface,CMDWRITE, (euint16) (place >> 16), (euint16) place);
+
+	sd_Resp8b(iface); /* Card response */
+
+	if_spiSend(iface,0xfe); /* Start block */
+	for(i=0;i<512;i++) 
+		if_spiSend(iface,buf[i]); /* Send data */
+	if_spiSend(iface,0xff); /* Checksum part 1 */
+	if_spiSend(iface,0xff); /* Checksum part 2 */
+
+	if_spiSend(iface,0xff);
+
+	while(if_spiSend(iface,0xff)!=0xff){
+		t++;
+		/* Removed NOP */
+	}
+	/*DBG((TXT("Nopp'ed %u times.\n"),t));*/
+
+	return(0);
+}
+/*****************************************************************************/
+
+/* ****************************************************************************
+ * WAIT ?? -- FIXME
+ * CMDCMD
+ * WAIT
+ * CARD RESP
+ * WAIT
+ * DATA BLOCK IN
+ * 		START BLOCK
+ * 		DATA
+ * 		CHKS (2B)
+ */
+
+esint8 sd_readSector(hwInterface *iface,euint32 address, euint8* buf, euint16 len)
+{
+	euint8 cardresp;
+	euint8 firstblock;
+	euint8 c;
+	euint16 fb_timeout=0xffff;
+	euint32 i;
+	euint32 place;
+
+	/*DBG((TXT("sd_readSector::Trying to read sector %u and store it at %p.\n"),address,&buf[0]));*/
+	place=512*address;
+	sd_Command(iface,CMDREAD, (euint16) (place >> 16), (euint16) place);
+	
+	cardresp=sd_Resp8b(iface); /* Card response */ 
+
+	/* Wait for startblock */
+	do
+		firstblock=sd_Resp8b(iface); 
+	while(firstblock==0xff && fb_timeout--);
+
+	if(cardresp!=0x00 || firstblock!=0xfe){
+		sd_Resp8bError(iface,firstblock);
+		return(-1);
+	}
+	
+	for(i=0;i<512;i++){
+		c = if_spiSend(iface,0xff);
+		if(i<len)
+			buf[i] = c;
+	}
+
+	/* Checksum (2 byte) - ignore for now */
+	if_spiSend(iface,0xff);
+	if_spiSend(iface,0xff);
+
+	return(0);
+}
+/*****************************************************************************/
+
+/* ****************************************************************************
+ calculates size of card from CSD 
+ (extension by Martin Thomas, inspired by code from Holger Klabunde)
+ */
+esint8 sd_getDriveSize(hwInterface *iface, euint32* drive_size )
+{
+	euint8 cardresp, i, by;
+	euint8 iob[16];
+	euint16 c_size, c_size_mult, read_bl_len;
+	
+	sd_Command(iface, CMDREADCSD, 0, 0);
+	
+	do {
+		cardresp = sd_Resp8b(iface);
+	} while ( cardresp != 0xFE );
+
+	DBG((TXT("CSD:")));
+	for( i=0; i<16; i++) {
+		iob[i] = sd_Resp8b(iface);
+		DBG((TXT(" %02x"), iob[i]));
+	}
+	DBG((TXT("\n")));
+
+	if_spiSend(iface,0xff);
+	if_spiSend(iface,0xff);
+	
+	c_size = iob[6] & 0x03; // bits 1..0
+	c_size <<= 10;
+	c_size += (euint16)iob[7]<<2;
+	c_size += iob[8]>>6;
+
+DBG((TXT(" c_size %d"), c_size));
+
+	by= iob[5] & 0x0F;
+	read_bl_len = 1;
+	read_bl_len <<= by;
+
+DBG((TXT(" read_bl_len %d"), read_bl_len));
+
+	by=iob[9] & 0x03;
+	by <<= 1;
+	by += iob[10] >> 7;
+
+DBG((TXT(" by %d"), by));
+
+	c_size_mult = 1;
 	c_size_mult <<= (2+by);
-
-DBG((TXT(" c_size_mult %d"), c_size_mult));
-	
-	*drive_size = (euint32)(c_size+1) * (euint32)c_size_mult * (euint32)read_bl_len;
-	
-	return 0;
-}
+
+DBG((TXT(" c_size_mult %d"), c_size_mult));
+	
+	*drive_size = (euint32)(c_size+1) * (euint32)c_size_mult * (euint32)read_bl_len;
+	
+	return 0;
+}
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/ADC.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/ADC.pde
index 69926b91c8..6f78acfdf1 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/ADC.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/ADC.pde
@@ -92,4 +92,4 @@ ISR(ADC_vect)
   ADMUX = (analog_reference << 6) | MuxSel;
   // start the conversion
   ADCSRA|= (1<<ADSC);
-}
+}
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Compass.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Compass.pde
index 2047a3a6d4..3d9a8d2023 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Compass.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Compass.pde
@@ -71,4 +71,4 @@ void Compass_Heading()
   MAG_Y = magnetom_y*cos_roll-magnetom_z*sin_roll;
   // Magnetic Heading
   MAG_Heading = atan2(-MAG_Y,MAG_X);
-}
+}
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/DCM.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/DCM.pde
index 799051b118..658a4e48a6 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/DCM.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/DCM.pde
@@ -277,4 +277,4 @@ void Euler_angles(void)
     yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]);
   #endif
 }
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_EM406.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_EM406.pde
index 4e73141244..b8b6f27dd9 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_EM406.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_EM406.pde
@@ -201,4 +201,4 @@ Serial.begin(38400); //Universal Synchronous Asynchronous Recieving Transmiting
 }
 
 #endif
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_NMEA.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_NMEA.pde
index 1c19b3e9c5..b03c2e7222 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_NMEA.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/GPS_NMEA.pde
@@ -289,4 +289,4 @@ void decode_gps(void)
 	}
 }
 #endif
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Output.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Output.pde
index 4389140b65..491f6edc7d 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Output.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Output.pde
@@ -408,4 +408,4 @@ long convert_to_dec(float x)
 {
   return x*10000000;
 }
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Vector.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Vector.pde
index d20cae5472..3c78b874db 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Vector.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/Vector.pde
@@ -37,4 +37,4 @@ void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
 }
 
 
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/arduimu.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/arduimu.pde
index a55af660d1..de974e2e53 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/arduimu.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/arduimu.pde
@@ -727,4 +727,4 @@ EEPROM memory map
 21 0x15		..
 22 0x16		Ground Altitude
 23 0x17		..
-*/
+*/
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/matrix.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/matrix.pde
index 5928990a0e..fd825e0e30 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/matrix.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/matrix.pde
@@ -19,4 +19,4 @@ void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3])
   }
 }
 
-
+
diff --git a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/press_alt.pde b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/press_alt.pde
index 6c7439b455..1af648e74e 100644
--- a/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/press_alt.pde
+++ b/sw/airborne/firmwares/helper/arduimu_Firmware_WithGps/arduimu/press_alt.pde
@@ -241,4 +241,4 @@ void TWIdocmd(unsigned char *msg)
     STOP;
 }
 
-#endif
+#endif
diff --git a/sw/airborne/fms/libeknav/assertions.hpp b/sw/airborne/fms/libeknav/assertions.hpp
index 1af924abc5..7c1f936867 100644
--- a/sw/airborne/fms/libeknav/assertions.hpp
+++ b/sw/airborne/fms/libeknav/assertions.hpp
@@ -1,65 +1,65 @@
-/*
- * assertions.hpp
- *
- *  Created on: Aug 6, 2009
- *      Author: Jonathan Brandmeyer
- *
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifndef AHRS_ASSERTIONS_HPP
-#define AHRS_ASSERTIONS_HPP
-
-#include <Eigen/Core>
-#include <cmath>
-
-template<typename MatrixBase>
-bool hasNaN(const MatrixBase& expr);
-
-template<typename MatrixBase>
-bool hasInf(const MatrixBase& expr);
-
-template<typename MatrixBase>
-bool hasNaN(const MatrixBase& expr)
-{
-	for (int j = 0; j != expr.cols(); ++j) {
-		for (int i = 0; i != expr.rows(); ++i) {
-			if (std::isnan(expr.coeff(i, j)))
-				return true;
-		}
-	}
-	return false;
-}
-
-template<typename MatrixBase>
-bool hasInf(const MatrixBase& expr)
-{
-	for (int i = 0; i != expr.cols(); ++i) {
-		for (int j = 0; j != expr.rows(); ++j) {
-			if (std::isinf(expr.coeff(j, i)))
-				return true;
-		}
-	}
-	return false;
-}
-
-template<typename MatrixBase>
-bool isReal(const MatrixBase& exp)
-{
-	return !hasNaN(exp) && ! hasInf(exp);
-}
-
-#endif /* ASSERTIONS_HPP_ */
+/*
+ * assertions.hpp
+ *
+ *  Created on: Aug 6, 2009
+ *      Author: Jonathan Brandmeyer
+ *
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef AHRS_ASSERTIONS_HPP
+#define AHRS_ASSERTIONS_HPP
+
+#include <Eigen/Core>
+#include <cmath>
+
+template<typename MatrixBase>
+bool hasNaN(const MatrixBase& expr);
+
+template<typename MatrixBase>
+bool hasInf(const MatrixBase& expr);
+
+template<typename MatrixBase>
+bool hasNaN(const MatrixBase& expr)
+{
+	for (int j = 0; j != expr.cols(); ++j) {
+		for (int i = 0; i != expr.rows(); ++i) {
+			if (std::isnan(expr.coeff(i, j)))
+				return true;
+		}
+	}
+	return false;
+}
+
+template<typename MatrixBase>
+bool hasInf(const MatrixBase& expr)
+{
+	for (int i = 0; i != expr.cols(); ++i) {
+		for (int j = 0; j != expr.rows(); ++j) {
+			if (std::isinf(expr.coeff(j, i)))
+				return true;
+		}
+	}
+	return false;
+}
+
+template<typename MatrixBase>
+bool isReal(const MatrixBase& exp)
+{
+	return !hasNaN(exp) && ! hasInf(exp);
+}
+
+#endif /* ASSERTIONS_HPP_ */
diff --git a/sw/airborne/fms/libeknav/basic_ins_qkf.cpp b/sw/airborne/fms/libeknav/basic_ins_qkf.cpp
index 81cdaa259f..4f42e5b889 100644
--- a/sw/airborne/fms/libeknav/basic_ins_qkf.cpp
+++ b/sw/airborne/fms/libeknav/basic_ins_qkf.cpp
@@ -1,154 +1,154 @@
-/*
- * basic_ins_qkf.cpp
- *
- *  Created on: Aug 11, 2009
- *      Author: Jonathan Brandmeyer
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#include "ins_qkf.hpp"
-#include "assertions.hpp"
-
-using namespace Eigen;
-
-basic_ins_qkf::basic_ins_qkf(
-		const Vector3d& estimate,
-		double pos_error, double bias_error, double v_error,
-		const Vector3d& gyro_white_noise,
-		const Vector3d& gyro_stability_noise,
-		const Vector3d& accel_white_noise,
-		Quaterniond initial_orientation,		// this is new
-		const Vector3d& vel_estimate)
-	: gyro_stability_noise(gyro_stability_noise)
-	, gyro_white_noise(gyro_white_noise)
-	, accel_white_noise(accel_white_noise)
-{
-	avg_state.position = estimate;
-	avg_state.gyro_bias = Vector3d::Zero();
-	//avg_state.orientation = Quaterniond::Identity();
-	avg_state.orientation = initial_orientation;
-	avg_state.velocity = vel_estimate;
-
-	cov << Matrix3d::Identity()*bias_error*bias_error, Matrix<double, 3, 9>::Zero(),
-		Matrix3d::Zero(), Matrix3d::Identity()*M_PI*M_PI*0.5, Matrix<double, 3, 6>::Zero(),
-		Matrix<double, 3, 6>::Zero(), Matrix3d::Identity()*pos_error*pos_error, Matrix3d::Zero(),
-		Matrix<double, 3, 9>::Zero(), Matrix3d::Identity()*v_error*v_error;
-	assert(is_real());
-}
-
-void
-basic_ins_qkf::counter_rotate_cov(const Quaterniond&)
-{
-	// Rotate the principle axes of the angular error covariance by the
-	// mean update.
-
-	// TODO: This is only required in the case that the system covariance is
-	// right-multiplied by the mean. The current design left-multiplies the
-	// covariance by the mean.
-	return;
-
-	// TODO: There should be an expression that makes both this matrix's
-	// construction and multiplication much more efficient.
-	// Matrix<double, 12, 12> counter_rot = Matrix<double, 12, 12>::Identity();
-	// counter_rot.block<3, 3>(3, 3) = update.cast<double>().conjugate().toRotationMatrix();
-	// cov = (counter_rot * cov.cast<double>() * counter_rot.transpose()).cast<float>();
-}
-#if 0
-basic_ins_qkf::state
-basic_ins_qkf::average_sigma_points(const std::vector<state, aligned_allocator<state> >& points)
-{
-	state ret;
-	Vector3d sum;
-#define avg_vector_field(field) \
-	sum = Vector3d::Zero(); \
-	for (auto i = points.begin(), end = points.end(); i != end; ++i) { \
-		sum += i->field; \
-	} \
-	ret.field = sum / points.size()
-
-	avg_vector_field(gyro_bias);
-	avg_vector_field(velocity);
-
-	Vector3d p_sum = Vector3d::Zero();
-	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
-		p_sum += i->position;
-	}
-	ret.position = p_sum / (double)points.size();
-
-	std::vector<Quaterniond> quat_points;
-	quat_points.reserve(points.size());
-	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
-		quat_points.push_back(i->orientation);
-	}
-	ret.orientation = quaternion_avg_johnson(quat_points).normalized();
-	return ret;
-}
-#endif
-
-bool
-basic_ins_qkf::is_real(void) const
-{
-	return !(hasNaN(cov) || hasInf(cov)) && avg_state.is_real();
-}
-
-Quaterniond
-basic_ins_qkf::state::apply_kalman_vec_update(const Matrix<double, 12, 1> update)
-{
-	// std::cout << "***update available***\n"
-	// 		<< "\tstate: "; print(std::cout);
-	// std::cout << "\n\tupdate: " << update.transpose() << "\n";
-	gyro_bias += update.segment<3>(0);
-	Quaterniond posterior_update = exp<double>(update.segment<3>(3));
-	orientation = (orientation * posterior_update).normalized();
-	position += update.segment<3>(6);
-	velocity += update.segment<3>(9);
-	assert(is_real());
-	return posterior_update;
-}
-
-#if 0
-Quaterniond
-basic_ins_qkf::state::apply_left_kalman_vec_update(const Matrix<double, 12, 1> update)
-{
-	// std::cout << "***update available***\n"
-	// 		<< "\tstate: "; print(std::cout);
-	// std::cout << "\n\tupdate: " << update.transpose() << "\n";
-	gyro_bias += update.segment<3>(0);
-	Quaterniond posterior_update = exp<double>(update.segment<3>(3));
-	orientation = (posterior_update * orientation).normalized();
-	position += update.segment<3>(6);
-	velocity += update.segment<3>(9);
-	assert(is_real());
-	return posterior_update;
-}
-#endif
-
-bool
-basic_ins_qkf::state::has_nan(void)const
-{
-	return hasNaN(gyro_bias) || hasNaN(orientation.coeffs())
-			|| hasNaN(position) || hasNaN(velocity);
-}
-
-bool
-basic_ins_qkf::state::is_real(void) const
-{
-	return !(hasNaN(gyro_bias) || hasNaN(orientation.coeffs())
-			|| hasNaN(position) || hasNaN(velocity))
-			&& !(hasInf(gyro_bias) || hasInf(orientation.coeffs())
-				|| hasInf(position) || hasInf(velocity));
-}
-
+/*
+ * basic_ins_qkf.cpp
+ *
+ *  Created on: Aug 11, 2009
+ *      Author: Jonathan Brandmeyer
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "ins_qkf.hpp"
+#include "assertions.hpp"
+
+using namespace Eigen;
+
+basic_ins_qkf::basic_ins_qkf(
+		const Vector3d& estimate,
+		double pos_error, double bias_error, double v_error,
+		const Vector3d& gyro_white_noise,
+		const Vector3d& gyro_stability_noise,
+		const Vector3d& accel_white_noise,
+		Quaterniond initial_orientation,		// this is new
+		const Vector3d& vel_estimate)
+	: gyro_stability_noise(gyro_stability_noise)
+	, gyro_white_noise(gyro_white_noise)
+	, accel_white_noise(accel_white_noise)
+{
+	avg_state.position = estimate;
+	avg_state.gyro_bias = Vector3d::Zero();
+	//avg_state.orientation = Quaterniond::Identity();
+	avg_state.orientation = initial_orientation;
+	avg_state.velocity = vel_estimate;
+
+	cov << Matrix3d::Identity()*bias_error*bias_error, Matrix<double, 3, 9>::Zero(),
+		Matrix3d::Zero(), Matrix3d::Identity()*M_PI*M_PI*0.5, Matrix<double, 3, 6>::Zero(),
+		Matrix<double, 3, 6>::Zero(), Matrix3d::Identity()*pos_error*pos_error, Matrix3d::Zero(),
+		Matrix<double, 3, 9>::Zero(), Matrix3d::Identity()*v_error*v_error;
+	assert(is_real());
+}
+
+void
+basic_ins_qkf::counter_rotate_cov(const Quaterniond&)
+{
+	// Rotate the principle axes of the angular error covariance by the
+	// mean update.
+
+	// TODO: This is only required in the case that the system covariance is
+	// right-multiplied by the mean. The current design left-multiplies the
+	// covariance by the mean.
+	return;
+
+	// TODO: There should be an expression that makes both this matrix's
+	// construction and multiplication much more efficient.
+	// Matrix<double, 12, 12> counter_rot = Matrix<double, 12, 12>::Identity();
+	// counter_rot.block<3, 3>(3, 3) = update.cast<double>().conjugate().toRotationMatrix();
+	// cov = (counter_rot * cov.cast<double>() * counter_rot.transpose()).cast<float>();
+}
+#if 0
+basic_ins_qkf::state
+basic_ins_qkf::average_sigma_points(const std::vector<state, aligned_allocator<state> >& points)
+{
+	state ret;
+	Vector3d sum;
+#define avg_vector_field(field) \
+	sum = Vector3d::Zero(); \
+	for (auto i = points.begin(), end = points.end(); i != end; ++i) { \
+		sum += i->field; \
+	} \
+	ret.field = sum / points.size()
+
+	avg_vector_field(gyro_bias);
+	avg_vector_field(velocity);
+
+	Vector3d p_sum = Vector3d::Zero();
+	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
+		p_sum += i->position;
+	}
+	ret.position = p_sum / (double)points.size();
+
+	std::vector<Quaterniond> quat_points;
+	quat_points.reserve(points.size());
+	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
+		quat_points.push_back(i->orientation);
+	}
+	ret.orientation = quaternion_avg_johnson(quat_points).normalized();
+	return ret;
+}
+#endif
+
+bool
+basic_ins_qkf::is_real(void) const
+{
+	return !(hasNaN(cov) || hasInf(cov)) && avg_state.is_real();
+}
+
+Quaterniond
+basic_ins_qkf::state::apply_kalman_vec_update(const Matrix<double, 12, 1> update)
+{
+	// std::cout << "***update available***\n"
+	// 		<< "\tstate: "; print(std::cout);
+	// std::cout << "\n\tupdate: " << update.transpose() << "\n";
+	gyro_bias += update.segment<3>(0);
+	Quaterniond posterior_update = exp<double>(update.segment<3>(3));
+	orientation = (orientation * posterior_update).normalized();
+	position += update.segment<3>(6);
+	velocity += update.segment<3>(9);
+	assert(is_real());
+	return posterior_update;
+}
+
+#if 0
+Quaterniond
+basic_ins_qkf::state::apply_left_kalman_vec_update(const Matrix<double, 12, 1> update)
+{
+	// std::cout << "***update available***\n"
+	// 		<< "\tstate: "; print(std::cout);
+	// std::cout << "\n\tupdate: " << update.transpose() << "\n";
+	gyro_bias += update.segment<3>(0);
+	Quaterniond posterior_update = exp<double>(update.segment<3>(3));
+	orientation = (posterior_update * orientation).normalized();
+	position += update.segment<3>(6);
+	velocity += update.segment<3>(9);
+	assert(is_real());
+	return posterior_update;
+}
+#endif
+
+bool
+basic_ins_qkf::state::has_nan(void)const
+{
+	return hasNaN(gyro_bias) || hasNaN(orientation.coeffs())
+			|| hasNaN(position) || hasNaN(velocity);
+}
+
+bool
+basic_ins_qkf::state::is_real(void) const
+{
+	return !(hasNaN(gyro_bias) || hasNaN(orientation.coeffs())
+			|| hasNaN(position) || hasNaN(velocity))
+			&& !(hasInf(gyro_bias) || hasInf(orientation.coeffs())
+				|| hasInf(position) || hasInf(velocity));
+}
+
diff --git a/sw/airborne/fms/libeknav/ins_qkf.hpp b/sw/airborne/fms/libeknav/ins_qkf.hpp
index 1fcc1f98aa..489d5592d9 100644
--- a/sw/airborne/fms/libeknav/ins_qkf.hpp
+++ b/sw/airborne/fms/libeknav/ins_qkf.hpp
@@ -1,312 +1,312 @@
-#ifndef AHRS_INS_QKF_HPP
-#define AHRS_INS_QKF_HPP
-/*
- * ins_qkf.cpp
- *
- *      Author: Jonathan Brandmeyer
- *
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-//#include "sigma_points.hpp"
-#include "quaternions.hpp"
-#include <Eigen/StdVector>
-
-#define BARO_CENTER_OF_MASS 1
-
-using Eigen::Vector3f;
-using Eigen::Vector3d;
-using Eigen::Vector2d;
-using Eigen::Quaterniond;
-using Eigen::Matrix;
-using Eigen::aligned_allocator;
-
-
-struct basic_ins_qkf
-{
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-	/// The maximum number of satellites that may be tracked by the filter
-	static const size_t max_sv = 12;
-	/**
-	 * The covariance of the zero-mean gaussian white noise that is added to
-	 * the gyro bias at each time step.  This value is treated as a diagonal
-	 *  matrix, in units of radians^2/second^2.
-	 */
-	const Vector3d gyro_stability_noise;
-
-	/**
-	 * The covariance of the zero-mean gaussian white noise that is added to
-	 * the gyro measurement at each time step, in rad^2/second^2
-	 */
-	const Vector3d gyro_white_noise;
-
-	/**
-	 * The covariance of the zero-mean gaussian white noise that is added to
-	 * the accelerometer measurement at each time step, in (m/s/s)^2
-	 */
-	const Vector3d accel_white_noise;
-
-	/**
-	 * A term for the basic state of the system
-	 */
-	struct state
-	{
-		EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-		typedef std::vector<state, aligned_allocator<state> > container_t;
-
-		/**
-		 * Construct a state variable from mean and error terms
-		 * @param mean The average state
-		 * @param error An error vector of length 12 or greater
-		 */
-		template <typename Vector_T>
-		state(const state& mean, const Vector_T& error)
-			: gyro_bias(mean.gyro_bias + error.template segment<3>(0))
-			, orientation(mean.orientation * exp<double>(error.template segment<3>(3)))
-			, position(mean.position + error.template segment<3>(6).template cast<double>())
-			, velocity(mean.velocity + error.template segment<3>(9))
-		{
-			assert(!has_nan());
-		}
-
-#if 0
-		template <typename Vector_T>
-		state(const state& mean, const Vector_T& error, bool)
-			: gyro_bias(mean.gyro_bias + error.segment(0, 3))
-			, orientation(mean.orientation * exp<double>(error.segment(3, 3)))
-			, position(mean.position + error.segment(6, 3).template cast<double>())
-			, velocity(mean.velocity + error.segment(9, 3))
-		{
-			assert(!has_nan());
-		}
-#endif
-		/**
-		 * Default-construct an undefined state object.
-		 * @return
-		 */
-		state(){}
-
-		/**
-		 * Provided a kalman update vector, apply the vector as an offset to this
-		 * state.
-		 * @param update A 12-vector to be applied
-		 * @return The rotation applied to the mean orientation
-		 */
-		Quaterniond apply_kalman_vec_update(const Matrix<double, 12, 1> update);
-		Quaterniond apply_left_kalman_vec_update(const Matrix<double, 12, 1> update);
-
-		/**
-		 * An estimate of the bias error in the rate gyros, in radians/second
-		 */
-		Vector3d gyro_bias;
-
-		/**
-		 * An estimate of the orientation of the vehicle.  This quaternion represents
-		 * a transformation from ECEF coordinates to the vehicle body frame.
-		 */
-		Quaterniond orientation;
-
-		/// Position in Earth-centered Earth-fixed reference frame, in meters
-		Vector3d position;
-
-		/// Velocity in Earth-centered Earth-fixed reference frame, in m/s
-		Vector3d velocity;
-
-		/**
-		 * @return True if the state vector contains any NaNs
-		 */
-		bool has_nan(void) const;
-
-		/**
-		 * @return True if the state vector does not contain any NaNs or Infs
-		 */
-		bool is_real(void) const;
-
-		/**
-		 * Print a representation of this object to the stream str.
-		 * @param str An output stream.
-		 */
-		void print(std::ostream& str);
-	};
-
-	/// The average state of the filter at any time t.
-	state avg_state;
-
-	/// Covariance term.  Elements are ordered exactly as in struct state
-	Matrix<double, 12, 12> cov;
-
-	/**
-	 * Initialize a new basic INS QKF
-	 * @param pos_estimate Initial estimate of the position
-	 * @param pos_error one-sigma initial bounds for position error
-	 * @param bias_error one-sigma initial bounds for bias error in the gyros
-	 * @param v_error one-sigma bounds for velocity error (initial v == 0)
-	 * @param gyro_white_noise The diagonal matrix of gyro white noise
-	 * @param gyro_stability_noise The diagonal matrix of gyro instability noise
-	 * @param accel_white_noise The diagonal matrix of accelerometer white noise
-	 */
-			//Old one without orientation_init()
-	basic_ins_qkf(const Vector3d& pos_estimate,
-			double pos_error, double bias_error, double v_error,
-			const Vector3d& gyro_white_noise,
-			const Vector3d& gyro_stability_noise,
-			const Vector3d& accel_white_noise,
-			Quaterniond initial_orientation = Quaterniond::Identity(),
-			const Vector3d& vel_estimate = Vector3d::Zero());
-	
-
-	/*		//Old one without orientation_init()
-	basic_ins_qkf(const Vector3d& pos_estimate,
-			double pos_error, double bias_error, double v_error,
-			const Vector3d& gyro_white_noise,
-			const Vector3d& gyro_stability_noise,
-			const Vector3d& accel_white_noise,
-			const Vector3d& vel_estimate = Vector3d::Zero());
-	*/
-	/**
-	 * Report an INS observation, to propagate the filter forward by one time
-	 * step. The coordinate system is maintained in ECEF coordinates.
-	 * TODO: Provide a workspace parameter for storage that should be
-	 * carried forward to an observation function carried out in this
-	 * time step.
-	 * @param gyro_meas The measured angular velocity, in rad/sec
-	 * @param accel_meas The measured inertial reference frame acceleration, in m/s
-	 * @param dt The elapsed time since the last measurement, in seconds.
-	 */
-	void predict(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt);
-
-	/**
-	 * Report an INS observation, to propagate the filter forward by one time
-	 * step. This function differs from predict() in that it uses the NED frame
-	 * instead of the ECEF frame.
-	 */
-	void predict_ned(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt);
-
-	/**
-	 * Make a single vector observation, with some angular uncertainty.
-	 * Warning: only one of obs_vector or obs_gps_pv_report can be called
-	 * after a single call to predict().
-	 *	@param ref Reference vector, when the orientation is the identity.
-	 *		Must be a unit vector.
-	 *	@param obs Vector observation, should not be a unit vector
-	 *	@param error one-sigma squared magnitude error in the observation
-	 */
-	void obs_vector(const Vector3d& ref, const Vector3d& obs, double error);
-
-	/**
-	 * Incorporate a GPS PVT report.
-	 * @param pos The sensor position, in earth-centered, earth-fixed coords, meters
-	 * @param vel The sensor velocity, in meters/second
-	 * @param p_error The RMS position error, (m)^2
-	 * @param v_error The RMS velocity error, (m/s)^2
-	 */
-	void obs_gps_pv_report(const Vector3d& pos, const Vector3d& vel, const Vector3d& p_error, const Vector3d v_error);
-
-	/**
-	 * Incorporate a GPS position report, in either ECEF or NED coordinates.
-	 * @param pos The position, in meters
-	 * @param p_error The position error, in meters.
-	 */
-	void obs_gps_p_report(const Vector3d& pos, const Vector3d& p_error);
-  
-  /**
-   * Incoporate a barometer report, the altitude should be ein ENU coordinates (Up=Positive)
-   * It's also necessary to provide the ECEF2ENU matrix.
-   * @param altitude The altitude, in meters
-   * @param baro_error, The altitude error, in meters
-   * @param ecef2enu, The rotational martrix form ECEF to ENU
-   * @param pos_0, the position where ENU would be (0, 0, 0).
-   */
-  #if BARO_CENTER_OF_MASS
-  void obs_baro_report(double altitude, double baro_error);
-  #else
-  void obs_baro_report(double altitude, double baro_error, Matrix<double, 3, 3> ecef2enu, const Vector3d& pos_0);
-  #endif
-
-	/**
-	 * Incorporate a GPS velocity report, in ECEF 3d coordinates.
-	 * @param vel The 3d velocity, relative to the fixed earth frame, in (m/s).
-	 * @param v_error The one-sigma RMS velocity error (m/s)^2
-	 */
-	void obs_gps_v_report(const Vector3d& vel, const Vector3d& v_error);
-
-	/**
-	 * Observe a GPS vector track over ground report, in north-east-down coordinates
-	 * @param vel The 2d velocity value, parallel to the ground, in m/s
-	 * @param v_error The one-sigma RMS velocity error (m/s)^2
-	 */
-	void obs_gps_vtg_report(const Vector2d vel, const double v_error);
-
-	/**
-	 * Directly observe the gyro sensor bias. In practice, we cannot do this. However,
-	 * the true bias is not a random walk. It tends to return towards zero when it is
-	 * farther away from zero (not temperature dependent). Therefore, we can
-	 * incorporate this extra knowledge through a periodic "observation" of zero 
-	 * bias with a large error.
-	 *
-	 * Use with extreme caution. It is almost certainly better to just clamp the
-	 * bias term after making an observation.
-	 *
-	 * @param bias The observed bias, in radians/sec
-	 * @param bias_error The one-sigma estimate of the gyro bias error, in radians/sec
-	 */
-	void obs_gyro_bias(const Vector3d& bias, const Vector3d& bias_error);
-
-	/**
-	 * Measure the total angular error between the filter's attitude estimate
-	 * and some other orientation.
-	 * @param orientation The attitude to compare against
-	 * @return The angular difference between them, in radians
-	 */
-	double angular_error(const Quaterniond& orientation) const;
-
-	/**
-	 * Measure the total gyro bias error between the filter's estimate and
-	 * some other bias
-	 * @param gyro_bias The gyro bias vector to compare against
-	 * @return The vector difference between them, in radians/second
-	 */
-	double gyro_bias_error(const Vector3d& gyro_bias) const;
-
-	/**
-	 * Determine the statistical distance between an example sample point
-	 * and the distribution computed by the estimator.
-	 */
-	double mahalanobis_distance(const state& sample) const;
-
-private:
-
-	/**
-	 * The type of an error term between two state vectors.
-	 */
-	typedef Eigen::Matrix<double, 12, 1> state_error_t;
-	/// Compute the error difference between a sigma point and the mean as: point - mean
-	state_error_t sigma_point_difference(const state& mean, const state& point) const;
-
-
-public:
-	/** Perform the posterior counter-rotation of the covariance matrix by
-	  the update that gets applied to the estimated state.
-	  */
-	void counter_rotate_cov(const Quaterniond& update);
-
-	/**
-	 * Verify that the covariance and average state are niether NaN nor Inf
-	 * @return True, iff no element in the covariance or mean are NaN or Inf
-	 */
-	bool is_real(void) const;
-};
-
-#endif
+#ifndef AHRS_INS_QKF_HPP
+#define AHRS_INS_QKF_HPP
+/*
+ * ins_qkf.cpp
+ *
+ *      Author: Jonathan Brandmeyer
+ *
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//#include "sigma_points.hpp"
+#include "quaternions.hpp"
+#include <Eigen/StdVector>
+
+#define BARO_CENTER_OF_MASS 1
+
+using Eigen::Vector3f;
+using Eigen::Vector3d;
+using Eigen::Vector2d;
+using Eigen::Quaterniond;
+using Eigen::Matrix;
+using Eigen::aligned_allocator;
+
+
+struct basic_ins_qkf
+{
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	/// The maximum number of satellites that may be tracked by the filter
+	static const size_t max_sv = 12;
+	/**
+	 * The covariance of the zero-mean gaussian white noise that is added to
+	 * the gyro bias at each time step.  This value is treated as a diagonal
+	 *  matrix, in units of radians^2/second^2.
+	 */
+	const Vector3d gyro_stability_noise;
+
+	/**
+	 * The covariance of the zero-mean gaussian white noise that is added to
+	 * the gyro measurement at each time step, in rad^2/second^2
+	 */
+	const Vector3d gyro_white_noise;
+
+	/**
+	 * The covariance of the zero-mean gaussian white noise that is added to
+	 * the accelerometer measurement at each time step, in (m/s/s)^2
+	 */
+	const Vector3d accel_white_noise;
+
+	/**
+	 * A term for the basic state of the system
+	 */
+	struct state
+	{
+		EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+		typedef std::vector<state, aligned_allocator<state> > container_t;
+
+		/**
+		 * Construct a state variable from mean and error terms
+		 * @param mean The average state
+		 * @param error An error vector of length 12 or greater
+		 */
+		template <typename Vector_T>
+		state(const state& mean, const Vector_T& error)
+			: gyro_bias(mean.gyro_bias + error.template segment<3>(0))
+			, orientation(mean.orientation * exp<double>(error.template segment<3>(3)))
+			, position(mean.position + error.template segment<3>(6).template cast<double>())
+			, velocity(mean.velocity + error.template segment<3>(9))
+		{
+			assert(!has_nan());
+		}
+
+#if 0
+		template <typename Vector_T>
+		state(const state& mean, const Vector_T& error, bool)
+			: gyro_bias(mean.gyro_bias + error.segment(0, 3))
+			, orientation(mean.orientation * exp<double>(error.segment(3, 3)))
+			, position(mean.position + error.segment(6, 3).template cast<double>())
+			, velocity(mean.velocity + error.segment(9, 3))
+		{
+			assert(!has_nan());
+		}
+#endif
+		/**
+		 * Default-construct an undefined state object.
+		 * @return
+		 */
+		state(){}
+
+		/**
+		 * Provided a kalman update vector, apply the vector as an offset to this
+		 * state.
+		 * @param update A 12-vector to be applied
+		 * @return The rotation applied to the mean orientation
+		 */
+		Quaterniond apply_kalman_vec_update(const Matrix<double, 12, 1> update);
+		Quaterniond apply_left_kalman_vec_update(const Matrix<double, 12, 1> update);
+
+		/**
+		 * An estimate of the bias error in the rate gyros, in radians/second
+		 */
+		Vector3d gyro_bias;
+
+		/**
+		 * An estimate of the orientation of the vehicle.  This quaternion represents
+		 * a transformation from ECEF coordinates to the vehicle body frame.
+		 */
+		Quaterniond orientation;
+
+		/// Position in Earth-centered Earth-fixed reference frame, in meters
+		Vector3d position;
+
+		/// Velocity in Earth-centered Earth-fixed reference frame, in m/s
+		Vector3d velocity;
+
+		/**
+		 * @return True if the state vector contains any NaNs
+		 */
+		bool has_nan(void) const;
+
+		/**
+		 * @return True if the state vector does not contain any NaNs or Infs
+		 */
+		bool is_real(void) const;
+
+		/**
+		 * Print a representation of this object to the stream str.
+		 * @param str An output stream.
+		 */
+		void print(std::ostream& str);
+	};
+
+	/// The average state of the filter at any time t.
+	state avg_state;
+
+	/// Covariance term.  Elements are ordered exactly as in struct state
+	Matrix<double, 12, 12> cov;
+
+	/**
+	 * Initialize a new basic INS QKF
+	 * @param pos_estimate Initial estimate of the position
+	 * @param pos_error one-sigma initial bounds for position error
+	 * @param bias_error one-sigma initial bounds for bias error in the gyros
+	 * @param v_error one-sigma bounds for velocity error (initial v == 0)
+	 * @param gyro_white_noise The diagonal matrix of gyro white noise
+	 * @param gyro_stability_noise The diagonal matrix of gyro instability noise
+	 * @param accel_white_noise The diagonal matrix of accelerometer white noise
+	 */
+			//Old one without orientation_init()
+	basic_ins_qkf(const Vector3d& pos_estimate,
+			double pos_error, double bias_error, double v_error,
+			const Vector3d& gyro_white_noise,
+			const Vector3d& gyro_stability_noise,
+			const Vector3d& accel_white_noise,
+			Quaterniond initial_orientation = Quaterniond::Identity(),
+			const Vector3d& vel_estimate = Vector3d::Zero());
+	
+
+	/*		//Old one without orientation_init()
+	basic_ins_qkf(const Vector3d& pos_estimate,
+			double pos_error, double bias_error, double v_error,
+			const Vector3d& gyro_white_noise,
+			const Vector3d& gyro_stability_noise,
+			const Vector3d& accel_white_noise,
+			const Vector3d& vel_estimate = Vector3d::Zero());
+	*/
+	/**
+	 * Report an INS observation, to propagate the filter forward by one time
+	 * step. The coordinate system is maintained in ECEF coordinates.
+	 * TODO: Provide a workspace parameter for storage that should be
+	 * carried forward to an observation function carried out in this
+	 * time step.
+	 * @param gyro_meas The measured angular velocity, in rad/sec
+	 * @param accel_meas The measured inertial reference frame acceleration, in m/s
+	 * @param dt The elapsed time since the last measurement, in seconds.
+	 */
+	void predict(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt);
+
+	/**
+	 * Report an INS observation, to propagate the filter forward by one time
+	 * step. This function differs from predict() in that it uses the NED frame
+	 * instead of the ECEF frame.
+	 */
+	void predict_ned(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt);
+
+	/**
+	 * Make a single vector observation, with some angular uncertainty.
+	 * Warning: only one of obs_vector or obs_gps_pv_report can be called
+	 * after a single call to predict().
+	 *	@param ref Reference vector, when the orientation is the identity.
+	 *		Must be a unit vector.
+	 *	@param obs Vector observation, should not be a unit vector
+	 *	@param error one-sigma squared magnitude error in the observation
+	 */
+	void obs_vector(const Vector3d& ref, const Vector3d& obs, double error);
+
+	/**
+	 * Incorporate a GPS PVT report.
+	 * @param pos The sensor position, in earth-centered, earth-fixed coords, meters
+	 * @param vel The sensor velocity, in meters/second
+	 * @param p_error The RMS position error, (m)^2
+	 * @param v_error The RMS velocity error, (m/s)^2
+	 */
+	void obs_gps_pv_report(const Vector3d& pos, const Vector3d& vel, const Vector3d& p_error, const Vector3d v_error);
+
+	/**
+	 * Incorporate a GPS position report, in either ECEF or NED coordinates.
+	 * @param pos The position, in meters
+	 * @param p_error The position error, in meters.
+	 */
+	void obs_gps_p_report(const Vector3d& pos, const Vector3d& p_error);
+  
+  /**
+   * Incoporate a barometer report, the altitude should be ein ENU coordinates (Up=Positive)
+   * It's also necessary to provide the ECEF2ENU matrix.
+   * @param altitude The altitude, in meters
+   * @param baro_error, The altitude error, in meters
+   * @param ecef2enu, The rotational martrix form ECEF to ENU
+   * @param pos_0, the position where ENU would be (0, 0, 0).
+   */
+  #if BARO_CENTER_OF_MASS
+  void obs_baro_report(double altitude, double baro_error);
+  #else
+  void obs_baro_report(double altitude, double baro_error, Matrix<double, 3, 3> ecef2enu, const Vector3d& pos_0);
+  #endif
+
+	/**
+	 * Incorporate a GPS velocity report, in ECEF 3d coordinates.
+	 * @param vel The 3d velocity, relative to the fixed earth frame, in (m/s).
+	 * @param v_error The one-sigma RMS velocity error (m/s)^2
+	 */
+	void obs_gps_v_report(const Vector3d& vel, const Vector3d& v_error);
+
+	/**
+	 * Observe a GPS vector track over ground report, in north-east-down coordinates
+	 * @param vel The 2d velocity value, parallel to the ground, in m/s
+	 * @param v_error The one-sigma RMS velocity error (m/s)^2
+	 */
+	void obs_gps_vtg_report(const Vector2d vel, const double v_error);
+
+	/**
+	 * Directly observe the gyro sensor bias. In practice, we cannot do this. However,
+	 * the true bias is not a random walk. It tends to return towards zero when it is
+	 * farther away from zero (not temperature dependent). Therefore, we can
+	 * incorporate this extra knowledge through a periodic "observation" of zero 
+	 * bias with a large error.
+	 *
+	 * Use with extreme caution. It is almost certainly better to just clamp the
+	 * bias term after making an observation.
+	 *
+	 * @param bias The observed bias, in radians/sec
+	 * @param bias_error The one-sigma estimate of the gyro bias error, in radians/sec
+	 */
+	void obs_gyro_bias(const Vector3d& bias, const Vector3d& bias_error);
+
+	/**
+	 * Measure the total angular error between the filter's attitude estimate
+	 * and some other orientation.
+	 * @param orientation The attitude to compare against
+	 * @return The angular difference between them, in radians
+	 */
+	double angular_error(const Quaterniond& orientation) const;
+
+	/**
+	 * Measure the total gyro bias error between the filter's estimate and
+	 * some other bias
+	 * @param gyro_bias The gyro bias vector to compare against
+	 * @return The vector difference between them, in radians/second
+	 */
+	double gyro_bias_error(const Vector3d& gyro_bias) const;
+
+	/**
+	 * Determine the statistical distance between an example sample point
+	 * and the distribution computed by the estimator.
+	 */
+	double mahalanobis_distance(const state& sample) const;
+
+private:
+
+	/**
+	 * The type of an error term between two state vectors.
+	 */
+	typedef Eigen::Matrix<double, 12, 1> state_error_t;
+	/// Compute the error difference between a sigma point and the mean as: point - mean
+	state_error_t sigma_point_difference(const state& mean, const state& point) const;
+
+
+public:
+	/** Perform the posterior counter-rotation of the covariance matrix by
+	  the update that gets applied to the estimated state.
+	  */
+	void counter_rotate_cov(const Quaterniond& update);
+
+	/**
+	 * Verify that the covariance and average state are niether NaN nor Inf
+	 * @return True, iff no element in the covariance or mean are NaN or Inf
+	 */
+	bool is_real(void) const;
+};
+
+#endif
diff --git a/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp b/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp
index 37b6a1fa1a..d16f7a7bd5 100644
--- a/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp
+++ b/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp
@@ -1,121 +1,121 @@
-/*
- * ins_qkf_observe_gps_pvt.cpp
- *
- *  Created on: Sep 2, 2009
- *      Author: Jonathan Brandmeyer
- *
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "ins_qkf.hpp"
-#include "assertions.hpp"
-#include <Eigen/LU>
-
-#ifdef TIME_OPS
-#include "timer.hpp"
-#include <iostream>
-#endif
-
-using namespace Eigen;
-
-#define RANK_ONE_UPDATES
-
-void
-basic_ins_qkf::obs_gps_v_report(const Vector3d& vel, const Vector3d& v_error)
-{
-	Vector3d residual = vel - avg_state.velocity;
-	//std::cout << "diff_v(" <<residual(0) << ", " << residual(1) << ", " << residual(2) <<")\n";
-
-#ifdef RANK_ONE_UPDATES
-	Matrix<double, 12, 1> update = Matrix<double, 12, 1>::Zero();
-	for (int i = 0; i < 3; ++i) {
-		double innovation_cov_inv = 1.0/(cov(9+i, 9+i) + v_error[i]);
-		Matrix<double, 12, 1> gain = cov.block<12, 1>(0, 9+i) * innovation_cov_inv;
-		update += gain * (residual[i] - update[9+i]);
-		cov -= gain * cov.block<1, 12>(9+i, 0);
-	}
-#else
-	Matrix<double, 3, 3> innovation_cov = cov.block<3, 3>(9, 9);
-	innovation_cov += v_error.asDiagonal();
-	Matrix<double, 3, 12> kalman_gain_t;
-	innovation_cov.qr().solve(cov.block<3, 12>(9, 0), &kalman_gain_t);
-	cov.part<Eigen::SelfAdjoint>() -= cov.block<12, 3>(0, 9) * kalman_gain_t; // .transpose() * cov.block<3, 12>(9, 0);
-	Matrix<double, 12, 1> update = kalman_gain_t.transpose() * residual;
-#endif
-	//std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << "\t" << update.segment<6>(6).transpose() << ")\n";
-
-	//update.segment<6>(0) = Matrix<double, 6, 1>::Zero(); // only for debugging
-	//std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << "\t" << update.segment<6>(6).transpose() << ")\n";
-	Quaterniond rotor = avg_state.apply_kalman_vec_update(update);
-	counter_rotate_cov(rotor);
-	assert(is_real());
-}
-
-void
-basic_ins_qkf::obs_gps_pv_report(
-		const Vector3d& pos, const Vector3d& vel,
-		const Vector3d& p_error, const Vector3d v_error)
-{
-#ifdef TIME_OPS
-	timer clock;
-	clock.start();
-#endif
-#if 1
-  //std::cout<<"position"<<std::endl;
-	obs_gps_p_report(pos, p_error);
-  //std::cout<<"velocity"<<std::endl;
-	obs_gps_v_report(vel, v_error);
-#else
-
-	// The observation model is strictly linear here, so use the linear
-	// form of the kalman gain and update
-	Matrix<double, 6, 12> obs_matrix;
-	obs_matrix << Matrix<double, 6, 6>::Zero(), Matrix<double, 6, 6>::Identity();
-
-	Matrix<double, 6, 1> residual;
-	residual.segment<3>(0) = (pos - avg_state.position);
-	residual.segment<3>(3) = vel - avg_state.velocity;
-
-	Matrix<double, 6, 6> innovation_cov = cov.corner<6, 6>(Eigen::BottomRight);
-	//innovation_cov = obs_matrix * cov * obs_matrix.transpose();
-	innovation_cov.corner<3, 3>(Eigen::TopLeft) += p_error.asDiagonal();
-	innovation_cov.corner<3, 3>(Eigen::BottomRight) += v_error.asDiagonal();
-#if 1
-	// Perform matrix inverse by LU decomposition instead of cofactor expansion.
-	// K = P*transpose(H)*inverse(S)
-	// K = P*transpose(transpose(transpose(H)*inverse(S)))
-	// K = P*transpose(transpose(inverse(S))*H)
-	// K = P*transpose(inverse(transpose(S))*H)
-	// S == transpose(S)
-	// K = P*transpose(inverse(S)*H)
-	// obs_matrx <- inverse(S)*H
-	Matrix<double, 6, 12> inv_s_h;
-	innovation_cov.qr().solve(obs_matrix, &inv_s_h);
-	Matrix<double, 12, 6> kalman_gain = cov * inv_s_h.transpose();
-#else
-	Matrix<double, 12, 6> kalman_gain = cov.block<12, 6>(0, 6) * innovation_cov.inverse();
-#endif
-	Quaterniond rotor = avg_state.apply_kalman_vec_update(kalman_gain * residual);
-	cov.part<Eigen::SelfAdjoint>() -= kalman_gain * obs_matrix * cov;
-	counter_rotate_cov(rotor);
-	assert(is_real());
-#endif
-
-#ifdef TIME_OPS
-	double time = clock.stop() * 1e6;
-	std::cout << "obs_gps_pvt time: " << time << "\n";
-#endif
-}
-
+/*
+ * ins_qkf_observe_gps_pvt.cpp
+ *
+ *  Created on: Sep 2, 2009
+ *      Author: Jonathan Brandmeyer
+ *
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ins_qkf.hpp"
+#include "assertions.hpp"
+#include <Eigen/LU>
+
+#ifdef TIME_OPS
+#include "timer.hpp"
+#include <iostream>
+#endif
+
+using namespace Eigen;
+
+#define RANK_ONE_UPDATES
+
+void
+basic_ins_qkf::obs_gps_v_report(const Vector3d& vel, const Vector3d& v_error)
+{
+	Vector3d residual = vel - avg_state.velocity;
+	//std::cout << "diff_v(" <<residual(0) << ", " << residual(1) << ", " << residual(2) <<")\n";
+
+#ifdef RANK_ONE_UPDATES
+	Matrix<double, 12, 1> update = Matrix<double, 12, 1>::Zero();
+	for (int i = 0; i < 3; ++i) {
+		double innovation_cov_inv = 1.0/(cov(9+i, 9+i) + v_error[i]);
+		Matrix<double, 12, 1> gain = cov.block<12, 1>(0, 9+i) * innovation_cov_inv;
+		update += gain * (residual[i] - update[9+i]);
+		cov -= gain * cov.block<1, 12>(9+i, 0);
+	}
+#else
+	Matrix<double, 3, 3> innovation_cov = cov.block<3, 3>(9, 9);
+	innovation_cov += v_error.asDiagonal();
+	Matrix<double, 3, 12> kalman_gain_t;
+	innovation_cov.qr().solve(cov.block<3, 12>(9, 0), &kalman_gain_t);
+	cov.part<Eigen::SelfAdjoint>() -= cov.block<12, 3>(0, 9) * kalman_gain_t; // .transpose() * cov.block<3, 12>(9, 0);
+	Matrix<double, 12, 1> update = kalman_gain_t.transpose() * residual;
+#endif
+	//std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << "\t" << update.segment<6>(6).transpose() << ")\n";
+
+	//update.segment<6>(0) = Matrix<double, 6, 1>::Zero(); // only for debugging
+	//std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << "\t" << update.segment<6>(6).transpose() << ")\n";
+	Quaterniond rotor = avg_state.apply_kalman_vec_update(update);
+	counter_rotate_cov(rotor);
+	assert(is_real());
+}
+
+void
+basic_ins_qkf::obs_gps_pv_report(
+		const Vector3d& pos, const Vector3d& vel,
+		const Vector3d& p_error, const Vector3d v_error)
+{
+#ifdef TIME_OPS
+	timer clock;
+	clock.start();
+#endif
+#if 1
+  //std::cout<<"position"<<std::endl;
+	obs_gps_p_report(pos, p_error);
+  //std::cout<<"velocity"<<std::endl;
+	obs_gps_v_report(vel, v_error);
+#else
+
+	// The observation model is strictly linear here, so use the linear
+	// form of the kalman gain and update
+	Matrix<double, 6, 12> obs_matrix;
+	obs_matrix << Matrix<double, 6, 6>::Zero(), Matrix<double, 6, 6>::Identity();
+
+	Matrix<double, 6, 1> residual;
+	residual.segment<3>(0) = (pos - avg_state.position);
+	residual.segment<3>(3) = vel - avg_state.velocity;
+
+	Matrix<double, 6, 6> innovation_cov = cov.corner<6, 6>(Eigen::BottomRight);
+	//innovation_cov = obs_matrix * cov * obs_matrix.transpose();
+	innovation_cov.corner<3, 3>(Eigen::TopLeft) += p_error.asDiagonal();
+	innovation_cov.corner<3, 3>(Eigen::BottomRight) += v_error.asDiagonal();
+#if 1
+	// Perform matrix inverse by LU decomposition instead of cofactor expansion.
+	// K = P*transpose(H)*inverse(S)
+	// K = P*transpose(transpose(transpose(H)*inverse(S)))
+	// K = P*transpose(transpose(inverse(S))*H)
+	// K = P*transpose(inverse(transpose(S))*H)
+	// S == transpose(S)
+	// K = P*transpose(inverse(S)*H)
+	// obs_matrx <- inverse(S)*H
+	Matrix<double, 6, 12> inv_s_h;
+	innovation_cov.qr().solve(obs_matrix, &inv_s_h);
+	Matrix<double, 12, 6> kalman_gain = cov * inv_s_h.transpose();
+#else
+	Matrix<double, 12, 6> kalman_gain = cov.block<12, 6>(0, 6) * innovation_cov.inverse();
+#endif
+	Quaterniond rotor = avg_state.apply_kalman_vec_update(kalman_gain * residual);
+	cov.part<Eigen::SelfAdjoint>() -= kalman_gain * obs_matrix * cov;
+	counter_rotate_cov(rotor);
+	assert(is_real());
+#endif
+
+#ifdef TIME_OPS
+	double time = clock.stop() * 1e6;
+	std::cout << "obs_gps_pvt time: " << time << "\n";
+#endif
+}
+
diff --git a/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp b/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp
index 64a8486396..c8370b0443 100644
--- a/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp
+++ b/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp
@@ -1,193 +1,193 @@
-/*
- * ins_qkf_observe_vector.cpp
- *
- *  Created on: Sep 2, 2009
- *      Author: Jonathan Brandmeyer
-
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "ins_qkf.hpp"
-#include "assertions.hpp"
-
-#ifdef TIME_OPS
-#include "timer.hpp"
-#include <iostream>
-#endif
-
-using namespace Eigen;
-#define RANK_ONE_UPDATES
-
-#include <Eigen/LU>
-
-void
-basic_ins_qkf::obs_gyro_bias(const Vector3d& bias, const Vector3d& bias_error)
-{
-	Matrix<double, 12, 3> kalman_gain = cov.block<12, 3>(0, 0) 
-			* (cov.block<3, 3>(0, 0) + bias_error.asDiagonal()).inverse();
-	cov -= kalman_gain * cov.block<3, 12>(0, 0);
-	Vector3d innovation = bias - avg_state.gyro_bias;
-
-	// Apply the Kalman gain to obtain the posterior state and error estimates.
-	avg_state.apply_kalman_vec_update(kalman_gain * innovation);
-}
-
-void
-basic_ins_qkf::obs_vector(const Vector3d& ref, const Vector3d& obs, double error)
-{
-#ifdef TIME_OPS
-	timer clock;
-	clock.start();
-#endif
-#define DEBUG_VECTOR_OBS 0
-	// Optimization opportunity: re-use sigma points from the state prediction
-#if 0
-	std::vector<vector_obs_state, aligned_allocator<vector_obs_state> > points;
-	Matrix<double, 15, 30> state_errors;
-	decompose_sigma_points(points, state_errors, error);
-
-	std::vector<Quaterniond> projected_points;
-	projected_points.reserve(points.size());
-	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
-		projected_points.push_back(observe_vector(*i, ref));
-	}
-
-	Vector3d expected_obs = avg_state.orientation * ref;
-	Quaterniond expected_observation_prediction = Quaterniond().setFromTwoVectors(ref, expected_obs);
-	// Compute the observation error matrix and its self-covariance
-	Quaterniond mean_observation_pred = quaternion_avg_johnson(projected_points);
-
-
-	// assert(obs_projection.transpose().isUnitary());
-#if DEBUG_VECTOR_OBS
-	std::cout << "\n\nref: " << ref.transpose();
-	std::cout << "\nobs: " << obs.transpose();
-	std::cout << "\nexpected observation: " << expected_observation_prediction.coeffs().transpose();
-	std::cout << "\nUKF observation: " << mean_observation_pred.coeffs().transpose();
-	std::cout << "\nexpected innovation: " << log<double>(Quaterniond().setFromTwoVectors(
-		expected_obs, obs)).transpose();
-	std::cout << "\ntangent space innovation: " << log<double>(avg_state.orientation.conjugate() *
-		Quaterniond().setFromTwoVectors(expected_obs, obs) * avg_state.orientation) << "\n";
-#endif
-	Matrix<double, 3, Dynamic> obs_errors(3, projected_points.size());
-	for (unsigned i = 0; i != projected_points.size(); ++i) {
-		if (projected_points[i].coeffs().dot(mean_observation_pred.coeffs()) < 0) {
-			// Choose the point on the same hemisphere as the mean.  otherwise, the error vectors
-			// get screwed up.
-			projected_points[i].coeffs() *= -1;
-		}
-		obs_errors.col(i) = log<double>(mean_observation_pred.conjugate() * projected_points[i]);
-	}
-
-	// Construct an observation matrix composed of the two unit vectors
-	// orthogonal to the direction that pivots about the expected observation
-	// Vector3d obs = obs.normalized();
-	Matrix<double, 2, 3> obs_projection;
-#if 1
-	SelfAdjointEigenSolver<Matrix<double, 3, 3> > obs_cov((obs_errors * obs_errors.transpose())*0.5);
-	obs_projection = obs_cov.eigenvectors().block<3, 2>(0, 1).transpose();
-#else
-	typedef Vector3d vector_t;
-	obs_projection.row(0) = expected_obs.cross((expected_obs.dot(vector_t::UnitX()) < 0.707)
-				? vector_t::UnitX() : vector_t::UnitY()).normalized();
-	obs_projection.row(1) = expected_obs.cross(obs_projection.row(0));
-#endif
-	assert(!hasNaN(obs_projection));
-#if DEBUG_VECTOR_OBS
-	std::cout << "predicted obs: " << expected_obs.transpose() << "\n";
-	std::cout << "actual obs: " << obs.transpose() << "\n";
-	std::cout << "reference obs: " << ref.transpose() << "\n";
-	std::cout << "obs cov eigenvalues: " << obs_cov.eigenvalues().transpose() << "\n";
-	std::cout << "obs cov eigenvectors:\n" << obs_cov.eigenvectors() << "\n";
-	std::cout << "measurement subspace:\n" << obs_projection.transpose() << "\n";
-#endif
-
-	Matrix<double, 2, Dynamic> projected_obs_errors = obs_projection*obs_errors;
-	Matrix<double, 2, 2> obs_pred_cov = (projected_obs_errors * projected_obs_errors.transpose())*0.5;
-#if DEBUG_VECTOR_OBS
-	std::cout << "obs errors: " << obs_errors << "\n";
-	std::cout << "S: " << obs_pred_cov << "\n";
-	std::cout << "expected S: " << cov.block<3, 3>(3, 3) << "\n";
-#endif
-
-	Matrix<double, 12, 2> state_meas_cross_cov =
-			(state_errors.block<12, 30>(0,0) * projected_obs_errors.transpose())*0.5;
-	Matrix<double, 12, 2> kalman_gain = state_meas_cross_cov * obs_pred_cov.inverse();
-	// Innovation rotation in the tangent space at the mean
-	Vector2d innovation = obs_projection*log<double>(
-			Quaterniond().setFromTwoVectors((mean_observation_pred * ref), obs));
-#if DEBUG_VECTOR_OBS
-	std::cout << "inverse(S): " << obs_pred_cov.inverse() << "\n";
-	std::cout << "used innovation: " << log<double>(Quaterniond().setFromTwoVectors(
-		mean_observation_pred * ref, obs)).transpose() << "\n";
-	std::cout << "projected innovation: " << innovation.transpose() << "\n";
-	std::cout << "deprojected innovation: " << (obs_projection.transpose() * innovation).transpose() << "\n";
-#endif
-	// actually, cov -= K*S*K^T, but this saves a multiplication.
-	cov -= (kalman_gain * obs_pred_cov * kalman_gain.transpose());
-#else
-	// BIG optimization opportunity: Use a pseudo-linear measurement model.
-
-	Vector3d obs_ref = avg_state.orientation.conjugate()*obs;
-	Vector3d v_residual = log<double>(Quaterniond().setFromTwoVectors(ref, obs_ref));
-
-	Matrix<double, 3, 2> h_trans;
-	h_trans.col(0) = ref.cross(
-			(abs(ref.dot(obs_ref)) < 0.9994) ? obs_ref :
-				(abs(ref.dot(Vector3d::UnitX())) < 0.707)
-				? Vector3d::UnitX() : Vector3d::UnitY()).normalized();
-  
-	h_trans.col(1) = -ref.cross(h_trans.col(0));
-	assert(!hasNaN(h_trans));
-	assert(h_trans.isUnitary());
-	Vector2d innovation = h_trans.transpose() * v_residual;
-#ifdef RANK_ONE_UPDATES
-	// Running a rank-one update here is a strict win.
-	Matrix<double, 12, 1> update = Matrix<double, 12, 1>::Zero();
-	for (int i = 0; i < 2; ++i) {
-		double obs_error = error;
-		double obs_cov = (h_trans.col(i).transpose() * cov.block<3, 3>(3, 3) * h_trans.col(i))[0];
-		Matrix<double, 12, 1> gain = cov.block<12, 3>(0, 3) * h_trans.col(i) / (obs_error + obs_cov);
-		update += gain * h_trans.col(i).transpose() * v_residual;
-		cov -= gain * h_trans.col(i).transpose() * cov.block<3, 12>(3, 0);
-	}
-#else
-	Matrix<double, 12, 2> kalman_gain = cov.block<12, 3>(0, 3) * h_trans
-			* (h_trans.transpose() * cov.block<3, 3>(3, 3) * h_trans 
-				+ (Vector2d() << error, error).finished().asDiagonal()).inverse();
-	cov -= kalman_gain * h_trans.transpose() * cov.block<3, 12>(3, 0);
-#endif
-
-#endif
-
-	// Apply the Kalman gain to obtain the posterior state and error estimates.
-#ifndef RANK_ONE_UPDATES
-	Matrix<double, 12, 1> update = (kalman_gain * innovation);
-#endif
-
-#if DEBUG_VECTOR_OBS
-	// std::cout << "projected update: " << (obs_projection * update.segment<3>(3)).transpose() << "\n";
-	std::cout << "deprojected update: " << update.segment<3>(3).transpose() << "\n";
-#endif
-	Quaterniond posterior_update = avg_state.apply_kalman_vec_update(update);
-	counter_rotate_cov(posterior_update);
-
-	assert(is_real());
-#ifdef TIME_OPS
-	double time = clock.stop() * 1e6;
-	std::cout << "observe_vector(): " << time << "\n";
-#endif
-
-}
+/*
+ * ins_qkf_observe_vector.cpp
+ *
+ *  Created on: Sep 2, 2009
+ *      Author: Jonathan Brandmeyer
+
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ins_qkf.hpp"
+#include "assertions.hpp"
+
+#ifdef TIME_OPS
+#include "timer.hpp"
+#include <iostream>
+#endif
+
+using namespace Eigen;
+#define RANK_ONE_UPDATES
+
+#include <Eigen/LU>
+
+void
+basic_ins_qkf::obs_gyro_bias(const Vector3d& bias, const Vector3d& bias_error)
+{
+	Matrix<double, 12, 3> kalman_gain = cov.block<12, 3>(0, 0) 
+			* (cov.block<3, 3>(0, 0) + bias_error.asDiagonal()).inverse();
+	cov -= kalman_gain * cov.block<3, 12>(0, 0);
+	Vector3d innovation = bias - avg_state.gyro_bias;
+
+	// Apply the Kalman gain to obtain the posterior state and error estimates.
+	avg_state.apply_kalman_vec_update(kalman_gain * innovation);
+}
+
+void
+basic_ins_qkf::obs_vector(const Vector3d& ref, const Vector3d& obs, double error)
+{
+#ifdef TIME_OPS
+	timer clock;
+	clock.start();
+#endif
+#define DEBUG_VECTOR_OBS 0
+	// Optimization opportunity: re-use sigma points from the state prediction
+#if 0
+	std::vector<vector_obs_state, aligned_allocator<vector_obs_state> > points;
+	Matrix<double, 15, 30> state_errors;
+	decompose_sigma_points(points, state_errors, error);
+
+	std::vector<Quaterniond> projected_points;
+	projected_points.reserve(points.size());
+	for (auto i = points.begin(), end = points.end(); i != end; ++i) {
+		projected_points.push_back(observe_vector(*i, ref));
+	}
+
+	Vector3d expected_obs = avg_state.orientation * ref;
+	Quaterniond expected_observation_prediction = Quaterniond().setFromTwoVectors(ref, expected_obs);
+	// Compute the observation error matrix and its self-covariance
+	Quaterniond mean_observation_pred = quaternion_avg_johnson(projected_points);
+
+
+	// assert(obs_projection.transpose().isUnitary());
+#if DEBUG_VECTOR_OBS
+	std::cout << "\n\nref: " << ref.transpose();
+	std::cout << "\nobs: " << obs.transpose();
+	std::cout << "\nexpected observation: " << expected_observation_prediction.coeffs().transpose();
+	std::cout << "\nUKF observation: " << mean_observation_pred.coeffs().transpose();
+	std::cout << "\nexpected innovation: " << log<double>(Quaterniond().setFromTwoVectors(
+		expected_obs, obs)).transpose();
+	std::cout << "\ntangent space innovation: " << log<double>(avg_state.orientation.conjugate() *
+		Quaterniond().setFromTwoVectors(expected_obs, obs) * avg_state.orientation) << "\n";
+#endif
+	Matrix<double, 3, Dynamic> obs_errors(3, projected_points.size());
+	for (unsigned i = 0; i != projected_points.size(); ++i) {
+		if (projected_points[i].coeffs().dot(mean_observation_pred.coeffs()) < 0) {
+			// Choose the point on the same hemisphere as the mean.  otherwise, the error vectors
+			// get screwed up.
+			projected_points[i].coeffs() *= -1;
+		}
+		obs_errors.col(i) = log<double>(mean_observation_pred.conjugate() * projected_points[i]);
+	}
+
+	// Construct an observation matrix composed of the two unit vectors
+	// orthogonal to the direction that pivots about the expected observation
+	// Vector3d obs = obs.normalized();
+	Matrix<double, 2, 3> obs_projection;
+#if 1
+	SelfAdjointEigenSolver<Matrix<double, 3, 3> > obs_cov((obs_errors * obs_errors.transpose())*0.5);
+	obs_projection = obs_cov.eigenvectors().block<3, 2>(0, 1).transpose();
+#else
+	typedef Vector3d vector_t;
+	obs_projection.row(0) = expected_obs.cross((expected_obs.dot(vector_t::UnitX()) < 0.707)
+				? vector_t::UnitX() : vector_t::UnitY()).normalized();
+	obs_projection.row(1) = expected_obs.cross(obs_projection.row(0));
+#endif
+	assert(!hasNaN(obs_projection));
+#if DEBUG_VECTOR_OBS
+	std::cout << "predicted obs: " << expected_obs.transpose() << "\n";
+	std::cout << "actual obs: " << obs.transpose() << "\n";
+	std::cout << "reference obs: " << ref.transpose() << "\n";
+	std::cout << "obs cov eigenvalues: " << obs_cov.eigenvalues().transpose() << "\n";
+	std::cout << "obs cov eigenvectors:\n" << obs_cov.eigenvectors() << "\n";
+	std::cout << "measurement subspace:\n" << obs_projection.transpose() << "\n";
+#endif
+
+	Matrix<double, 2, Dynamic> projected_obs_errors = obs_projection*obs_errors;
+	Matrix<double, 2, 2> obs_pred_cov = (projected_obs_errors * projected_obs_errors.transpose())*0.5;
+#if DEBUG_VECTOR_OBS
+	std::cout << "obs errors: " << obs_errors << "\n";
+	std::cout << "S: " << obs_pred_cov << "\n";
+	std::cout << "expected S: " << cov.block<3, 3>(3, 3) << "\n";
+#endif
+
+	Matrix<double, 12, 2> state_meas_cross_cov =
+			(state_errors.block<12, 30>(0,0) * projected_obs_errors.transpose())*0.5;
+	Matrix<double, 12, 2> kalman_gain = state_meas_cross_cov * obs_pred_cov.inverse();
+	// Innovation rotation in the tangent space at the mean
+	Vector2d innovation = obs_projection*log<double>(
+			Quaterniond().setFromTwoVectors((mean_observation_pred * ref), obs));
+#if DEBUG_VECTOR_OBS
+	std::cout << "inverse(S): " << obs_pred_cov.inverse() << "\n";
+	std::cout << "used innovation: " << log<double>(Quaterniond().setFromTwoVectors(
+		mean_observation_pred * ref, obs)).transpose() << "\n";
+	std::cout << "projected innovation: " << innovation.transpose() << "\n";
+	std::cout << "deprojected innovation: " << (obs_projection.transpose() * innovation).transpose() << "\n";
+#endif
+	// actually, cov -= K*S*K^T, but this saves a multiplication.
+	cov -= (kalman_gain * obs_pred_cov * kalman_gain.transpose());
+#else
+	// BIG optimization opportunity: Use a pseudo-linear measurement model.
+
+	Vector3d obs_ref = avg_state.orientation.conjugate()*obs;
+	Vector3d v_residual = log<double>(Quaterniond().setFromTwoVectors(ref, obs_ref));
+
+	Matrix<double, 3, 2> h_trans;
+	h_trans.col(0) = ref.cross(
+			(abs(ref.dot(obs_ref)) < 0.9994) ? obs_ref :
+				(abs(ref.dot(Vector3d::UnitX())) < 0.707)
+				? Vector3d::UnitX() : Vector3d::UnitY()).normalized();
+  
+	h_trans.col(1) = -ref.cross(h_trans.col(0));
+	assert(!hasNaN(h_trans));
+	assert(h_trans.isUnitary());
+	Vector2d innovation = h_trans.transpose() * v_residual;
+#ifdef RANK_ONE_UPDATES
+	// Running a rank-one update here is a strict win.
+	Matrix<double, 12, 1> update = Matrix<double, 12, 1>::Zero();
+	for (int i = 0; i < 2; ++i) {
+		double obs_error = error;
+		double obs_cov = (h_trans.col(i).transpose() * cov.block<3, 3>(3, 3) * h_trans.col(i))[0];
+		Matrix<double, 12, 1> gain = cov.block<12, 3>(0, 3) * h_trans.col(i) / (obs_error + obs_cov);
+		update += gain * h_trans.col(i).transpose() * v_residual;
+		cov -= gain * h_trans.col(i).transpose() * cov.block<3, 12>(3, 0);
+	}
+#else
+	Matrix<double, 12, 2> kalman_gain = cov.block<12, 3>(0, 3) * h_trans
+			* (h_trans.transpose() * cov.block<3, 3>(3, 3) * h_trans 
+				+ (Vector2d() << error, error).finished().asDiagonal()).inverse();
+	cov -= kalman_gain * h_trans.transpose() * cov.block<3, 12>(3, 0);
+#endif
+
+#endif
+
+	// Apply the Kalman gain to obtain the posterior state and error estimates.
+#ifndef RANK_ONE_UPDATES
+	Matrix<double, 12, 1> update = (kalman_gain * innovation);
+#endif
+
+#if DEBUG_VECTOR_OBS
+	// std::cout << "projected update: " << (obs_projection * update.segment<3>(3)).transpose() << "\n";
+	std::cout << "deprojected update: " << update.segment<3>(3).transpose() << "\n";
+#endif
+	Quaterniond posterior_update = avg_state.apply_kalman_vec_update(update);
+	counter_rotate_cov(posterior_update);
+
+	assert(is_real());
+#ifdef TIME_OPS
+	double time = clock.stop() * 1e6;
+	std::cout << "observe_vector(): " << time << "\n";
+#endif
+
+}
diff --git a/sw/airborne/fms/libeknav/ins_qkf_predict.cpp b/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
index 3390b382ef..21806a0e17 100644
--- a/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
+++ b/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
@@ -1,184 +1,184 @@
-/*
- * ins_qkf_predict.cpp
- *
- *  Created on: Sep 2, 2009
- *      Author: Jonathan Brandmeyer
-
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/**
- * This is a modified version by Martin Dieblich
- * The general changes are a more consequent naming
- * 
- */
-
-
-#include "ins_qkf.hpp"
-#include "assertions.hpp"
-#ifdef TIME_OPS
-//#include "timer.hpp"
-#include <iostream>
-#endif
-
-using namespace Eigen;
-
-namespace {
-
-Matrix<double, 3, 3>
-axis_scale(const Vector3d& axis, double scale)
-{
-	return (scale - 1) * axis * axis.transpose() + Matrix3d::Identity();
-}
-
-void
-linear_predict(basic_ins_qkf& _this, const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt)
-{
-	// The two components of rotation that do not spin about the gravity vector
-	// have an influence on the position and velocity of the vehicle.
-	// Let r be an error axis of rotation, and z be the gravity vector.
-	// Increasing r creates increasing error in the direction _|_ to r and z.
-	// By the small angle theorem, the amount of error is ~ abs(r)*abs(z).
-	// Increasing r also creates increasing error in the direction || to -z.
-	// By the small angle theorem, the amount of error is ~ zero.
-	// Therefore, rotate the error block about the z axis by -90 degrees, and
-	// zero out the error vector in the z direction.
-	// accel_cov is the relationship between error vectors in the tangent space
-	// of the vehicle orientation and the translational reference frame.
-	
-	
-	Matrix3d rot = _this.avg_state.orientation.conjugate().toRotationMatrix();
-	
-	Vector3d accel_ecef = rot*accel_meas;		// a_e = (q_e2b)^* x a_b = q_b2e x a_b
-	Vector3d accel_gravity = _this.avg_state.position.normalized()*(-9.81);         
-	Vector3d accel_resid = accel_ecef + accel_gravity;								// a = (xdd-g)+g = xdd;
-	
-	#if 0
-	printf("==================================================\n");
-	printf("Quaternion: % 1.4f % 1.4f % 1.4f % 1.4f\n",
-														_this.avg_state.orientation.w(),
-														_this.avg_state.orientation.x(),
-														_this.avg_state.orientation.y(),
-														_this.avg_state.orientation.z());
-	printf("Accel_meas: % 1.4f % 1.4f % 1.4f\n", accel_meas(0), accel_meas(1), accel_meas(2));
-	printf("Accel_ecef: % 1.4f % 1.4f % 1.4f\n", accel_ecef(0), accel_ecef(1), accel_ecef(2));
-	printf("Accel_grav: % 1.4f % 1.4f % 1.4f\n", accel_gravity(0), accel_gravity(1), accel_gravity(2));
-	#endif
-	
-#if 0
-	// This form works well with zero static acceleration.
-	Matrix<double, 3, 3> accel_cov =
-		Eigen::AngleAxisd(-M_PI*0.5, _this.avg_state.position.normalized())
-		* axis_scale(_this.avg_state.position.normalized(), 0) * 9.81;
-#elif 1
-	Matrix<double, 3, 3> accel_cov =
-		Eigen::AngleAxisd(-M_PI*0.5, accel_ecef.normalized())
-		* axis_scale(accel_ecef.normalized(), 0) * accel_meas.norm();
-#else
-	// The following form ends up being identical to the simpler one
-	// above
-	Matrix<double, 3, 3> accel_cov =
-		Eigen::AngleAxisd(-M_PI*0.5, _this.avg_state.position.normalized())
-		* axis_scale(_this.avg_state.position.normalized(), 0) * 9.81
-		+ Eigen::AngleAxisd(-M_PI*0.5, accel_resid.normalized())
-		* axis_scale(accel_resid.normalized(), 0)*accel_resid.norm();
-#endif
-	// TODO: Optimization opportunity: the accel_cov doesn't change much over
-	// the life of a mission. Precompute it once and then retain the original.
-	// Then, only one 3x3 block ever gets updated in the A matrix below.
-
-	// The linearized Kalman state projection matrix.
-#if 0
-	Matrix<double, 12, 12> A;
-	     // gyro bias row
-	A << Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 9>::Zero(),
-		 // Orientation row
-		 _this.avg_state.orientation.conjugate().toRotationMatrix()*-dt,
-			 Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 6>::Zero(),
-		 // Position row
-		 Matrix<double, 3, 3>::Zero(), -accel_cov*0.5*dt*dt,
-			 Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 3>::Identity()*dt,
-		 // Velocity row
-		 Matrix<double, 3, 3>::Zero(), -accel_cov * dt,
-			 Matrix<double, 3, 3>::Zero(), Matrix<double, 3, 3>::Identity();
-
-	// 800x realtime, with vectorization
-	_this.cov.part<Eigen::SelfAdjoint>() = A * _this.cov * A.transpose();
-#else
-	// 1500x realtime, without vectorization, on 2.2 GHz Athlon X2
-	const Matrix<double, 12, 12> cov = _this.cov;
-	const Matrix3d dtR = dt * _this.avg_state.orientation.conjugate().toRotationMatrix();
-	const Matrix3d dtQ = accel_cov * dt;
-
-	_this.cov.block<3, 3>(0, 3) -= cov.block<3,3>(0, 0)*dtR.transpose();
-	_this.cov.block<3, 3>(0, 6) += dt * cov.block<3, 3>(0, 9);
-	_this.cov.block<3, 3>(0, 9) -= cov.block<3, 3>(0, 3) * dtQ.transpose();
-	_this.cov.block<3, 3>(3, 3).part<Eigen::SelfAdjoint>() += dtR*cov.block<3, 3>(0, 0)*dtR.transpose()
-			- dtR*cov.block<3, 3>(0, 3) - cov.block<3, 3>(3, 0)*dtR.transpose();
-	_this.cov.block<3, 3>(3, 6) += -dtR * (cov.block<3, 3>(0, 6) + dt*cov.block<3, 3>(0, 9))
-			+ dt*cov.block<3, 3>(3, 9);
-	_this.cov.block<3, 3>(3, 9) += -dtR*( -cov.block<3, 3>(0, 3)*dtQ.transpose() + cov.block<3, 3>(0, 9))
-			- cov.block<3, 3>(3, 3)*dtQ.transpose();
-	_this.cov.block<3, 3>(6, 6).part<Eigen::SelfAdjoint>() += dt*cov.block<3, 3>(6, 9) + dt*dt*cov.block<3, 3>(9, 9)
-			+ dt*cov.block<3, 3>(9, 6);
-	_this.cov.block<3, 3>(6, 9) += -cov.block<3, 3>(6, 3)*dtQ.transpose() + dt*cov.block<3, 3>(9, 9)
-			- dt*cov.block<3, 3>(9, 3)*dtQ.transpose();
-	_this.cov.block<3, 3>(9, 9).part<Eigen::SelfAdjoint>() += dtQ*cov.block<3, 3>(3, 3)*dtQ.transpose()
-			- dtQ*cov.block<3, 3>(3, 9) - cov.block<3, 3>(9, 3)*dtQ.transpose();
-
-	_this.cov.block<3, 3>(3, 0) = _this.cov.block<3, 3>(0, 3).transpose();
-	_this.cov.block<3, 3>(6, 0) = _this.cov.block<3, 3>(0, 6).transpose();
-	_this.cov.block<3, 3>(6, 3) = _this.cov.block<3, 3>(3, 6).transpose();
-	_this.cov.block<3, 3>(9, 0) = _this.cov.block<3, 3>(0, 9).transpose();
-	_this.cov.block<3, 3>(9, 3) = _this.cov.block<3, 3>(3, 9).transpose();
-	_this.cov.block<3, 3>(9, 6) = _this.cov.block<3, 3>(6, 9).transpose();
-#endif
-
-	_this.cov.block<3, 3>(0, 0) += _this.gyro_stability_noise.asDiagonal() * dt;
-	_this.cov.block<3, 3>(3, 3) += _this.gyro_white_noise.asDiagonal() * dt;
-	_this.cov.block<3, 3>(6, 6) += _this.accel_white_noise.asDiagonal() * 0.5*dt*dt;
-	_this.cov.block<3, 3>(9, 9) += _this.accel_white_noise.asDiagonal() * dt;
-
-	Quaterniond orientation = exp<double>((gyro_meas - _this.avg_state.gyro_bias) * dt)
-			* _this.avg_state.orientation;
-	//Vector3d accel = accel_ecef - _this.avg_state.position.normalized() * 9.81;
-	//std::cout << "   ACCEL______(" << accel.transpose() << ")\n";
-	Vector3d position = _this.avg_state.position + _this.avg_state.velocity * dt + 0.5*accel_resid*dt*dt;
-	Vector3d velocity = _this.avg_state.velocity + accel_resid*dt;
-
-	_this.avg_state.position = position;
-	_this.avg_state.velocity = velocity;
-	_this.avg_state.orientation = orientation;
-}
-
-} // !namespace (anon)
-
-void
-basic_ins_qkf::predict(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt)
-{
-#ifdef TIME_OPS
-	timer clock;
-	clock.start();
-#endif
-
-	// Always use linearized prediction
-	linear_predict(*this, gyro_meas, accel_meas, dt);
-
-#ifdef TIME_OPS
-	double time = clock.stop()*1e6;
-	std::cout << "unscented predict time: " << time << "\n";
-#endif
-}
-
+/*
+ * ins_qkf_predict.cpp
+ *
+ *  Created on: Sep 2, 2009
+ *      Author: Jonathan Brandmeyer
+
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * This is a modified version by Martin Dieblich
+ * The general changes are a more consequent naming
+ * 
+ */
+
+
+#include "ins_qkf.hpp"
+#include "assertions.hpp"
+#ifdef TIME_OPS
+//#include "timer.hpp"
+#include <iostream>
+#endif
+
+using namespace Eigen;
+
+namespace {
+
+Matrix<double, 3, 3>
+axis_scale(const Vector3d& axis, double scale)
+{
+	return (scale - 1) * axis * axis.transpose() + Matrix3d::Identity();
+}
+
+void
+linear_predict(basic_ins_qkf& _this, const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt)
+{
+	// The two components of rotation that do not spin about the gravity vector
+	// have an influence on the position and velocity of the vehicle.
+	// Let r be an error axis of rotation, and z be the gravity vector.
+	// Increasing r creates increasing error in the direction _|_ to r and z.
+	// By the small angle theorem, the amount of error is ~ abs(r)*abs(z).
+	// Increasing r also creates increasing error in the direction || to -z.
+	// By the small angle theorem, the amount of error is ~ zero.
+	// Therefore, rotate the error block about the z axis by -90 degrees, and
+	// zero out the error vector in the z direction.
+	// accel_cov is the relationship between error vectors in the tangent space
+	// of the vehicle orientation and the translational reference frame.
+	
+	
+	Matrix3d rot = _this.avg_state.orientation.conjugate().toRotationMatrix();
+	
+	Vector3d accel_ecef = rot*accel_meas;		// a_e = (q_e2b)^* x a_b = q_b2e x a_b
+	Vector3d accel_gravity = _this.avg_state.position.normalized()*(-9.81);         
+	Vector3d accel_resid = accel_ecef + accel_gravity;								// a = (xdd-g)+g = xdd;
+	
+	#if 0
+	printf("==================================================\n");
+	printf("Quaternion: % 1.4f % 1.4f % 1.4f % 1.4f\n",
+														_this.avg_state.orientation.w(),
+														_this.avg_state.orientation.x(),
+														_this.avg_state.orientation.y(),
+														_this.avg_state.orientation.z());
+	printf("Accel_meas: % 1.4f % 1.4f % 1.4f\n", accel_meas(0), accel_meas(1), accel_meas(2));
+	printf("Accel_ecef: % 1.4f % 1.4f % 1.4f\n", accel_ecef(0), accel_ecef(1), accel_ecef(2));
+	printf("Accel_grav: % 1.4f % 1.4f % 1.4f\n", accel_gravity(0), accel_gravity(1), accel_gravity(2));
+	#endif
+	
+#if 0
+	// This form works well with zero static acceleration.
+	Matrix<double, 3, 3> accel_cov =
+		Eigen::AngleAxisd(-M_PI*0.5, _this.avg_state.position.normalized())
+		* axis_scale(_this.avg_state.position.normalized(), 0) * 9.81;
+#elif 1
+	Matrix<double, 3, 3> accel_cov =
+		Eigen::AngleAxisd(-M_PI*0.5, accel_ecef.normalized())
+		* axis_scale(accel_ecef.normalized(), 0) * accel_meas.norm();
+#else
+	// The following form ends up being identical to the simpler one
+	// above
+	Matrix<double, 3, 3> accel_cov =
+		Eigen::AngleAxisd(-M_PI*0.5, _this.avg_state.position.normalized())
+		* axis_scale(_this.avg_state.position.normalized(), 0) * 9.81
+		+ Eigen::AngleAxisd(-M_PI*0.5, accel_resid.normalized())
+		* axis_scale(accel_resid.normalized(), 0)*accel_resid.norm();
+#endif
+	// TODO: Optimization opportunity: the accel_cov doesn't change much over
+	// the life of a mission. Precompute it once and then retain the original.
+	// Then, only one 3x3 block ever gets updated in the A matrix below.
+
+	// The linearized Kalman state projection matrix.
+#if 0
+	Matrix<double, 12, 12> A;
+	     // gyro bias row
+	A << Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 9>::Zero(),
+		 // Orientation row
+		 _this.avg_state.orientation.conjugate().toRotationMatrix()*-dt,
+			 Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 6>::Zero(),
+		 // Position row
+		 Matrix<double, 3, 3>::Zero(), -accel_cov*0.5*dt*dt,
+			 Matrix<double, 3, 3>::Identity(), Matrix<double, 3, 3>::Identity()*dt,
+		 // Velocity row
+		 Matrix<double, 3, 3>::Zero(), -accel_cov * dt,
+			 Matrix<double, 3, 3>::Zero(), Matrix<double, 3, 3>::Identity();
+
+	// 800x realtime, with vectorization
+	_this.cov.part<Eigen::SelfAdjoint>() = A * _this.cov * A.transpose();
+#else
+	// 1500x realtime, without vectorization, on 2.2 GHz Athlon X2
+	const Matrix<double, 12, 12> cov = _this.cov;
+	const Matrix3d dtR = dt * _this.avg_state.orientation.conjugate().toRotationMatrix();
+	const Matrix3d dtQ = accel_cov * dt;
+
+	_this.cov.block<3, 3>(0, 3) -= cov.block<3,3>(0, 0)*dtR.transpose();
+	_this.cov.block<3, 3>(0, 6) += dt * cov.block<3, 3>(0, 9);
+	_this.cov.block<3, 3>(0, 9) -= cov.block<3, 3>(0, 3) * dtQ.transpose();
+	_this.cov.block<3, 3>(3, 3).part<Eigen::SelfAdjoint>() += dtR*cov.block<3, 3>(0, 0)*dtR.transpose()
+			- dtR*cov.block<3, 3>(0, 3) - cov.block<3, 3>(3, 0)*dtR.transpose();
+	_this.cov.block<3, 3>(3, 6) += -dtR * (cov.block<3, 3>(0, 6) + dt*cov.block<3, 3>(0, 9))
+			+ dt*cov.block<3, 3>(3, 9);
+	_this.cov.block<3, 3>(3, 9) += -dtR*( -cov.block<3, 3>(0, 3)*dtQ.transpose() + cov.block<3, 3>(0, 9))
+			- cov.block<3, 3>(3, 3)*dtQ.transpose();
+	_this.cov.block<3, 3>(6, 6).part<Eigen::SelfAdjoint>() += dt*cov.block<3, 3>(6, 9) + dt*dt*cov.block<3, 3>(9, 9)
+			+ dt*cov.block<3, 3>(9, 6);
+	_this.cov.block<3, 3>(6, 9) += -cov.block<3, 3>(6, 3)*dtQ.transpose() + dt*cov.block<3, 3>(9, 9)
+			- dt*cov.block<3, 3>(9, 3)*dtQ.transpose();
+	_this.cov.block<3, 3>(9, 9).part<Eigen::SelfAdjoint>() += dtQ*cov.block<3, 3>(3, 3)*dtQ.transpose()
+			- dtQ*cov.block<3, 3>(3, 9) - cov.block<3, 3>(9, 3)*dtQ.transpose();
+
+	_this.cov.block<3, 3>(3, 0) = _this.cov.block<3, 3>(0, 3).transpose();
+	_this.cov.block<3, 3>(6, 0) = _this.cov.block<3, 3>(0, 6).transpose();
+	_this.cov.block<3, 3>(6, 3) = _this.cov.block<3, 3>(3, 6).transpose();
+	_this.cov.block<3, 3>(9, 0) = _this.cov.block<3, 3>(0, 9).transpose();
+	_this.cov.block<3, 3>(9, 3) = _this.cov.block<3, 3>(3, 9).transpose();
+	_this.cov.block<3, 3>(9, 6) = _this.cov.block<3, 3>(6, 9).transpose();
+#endif
+
+	_this.cov.block<3, 3>(0, 0) += _this.gyro_stability_noise.asDiagonal() * dt;
+	_this.cov.block<3, 3>(3, 3) += _this.gyro_white_noise.asDiagonal() * dt;
+	_this.cov.block<3, 3>(6, 6) += _this.accel_white_noise.asDiagonal() * 0.5*dt*dt;
+	_this.cov.block<3, 3>(9, 9) += _this.accel_white_noise.asDiagonal() * dt;
+
+	Quaterniond orientation = exp<double>((gyro_meas - _this.avg_state.gyro_bias) * dt)
+			* _this.avg_state.orientation;
+	//Vector3d accel = accel_ecef - _this.avg_state.position.normalized() * 9.81;
+	//std::cout << "   ACCEL______(" << accel.transpose() << ")\n";
+	Vector3d position = _this.avg_state.position + _this.avg_state.velocity * dt + 0.5*accel_resid*dt*dt;
+	Vector3d velocity = _this.avg_state.velocity + accel_resid*dt;
+
+	_this.avg_state.position = position;
+	_this.avg_state.velocity = velocity;
+	_this.avg_state.orientation = orientation;
+}
+
+} // !namespace (anon)
+
+void
+basic_ins_qkf::predict(const Vector3d& gyro_meas, const Vector3d& accel_meas, double dt)
+{
+#ifdef TIME_OPS
+	timer clock;
+	clock.start();
+#endif
+
+	// Always use linearized prediction
+	linear_predict(*this, gyro_meas, accel_meas, dt);
+
+#ifdef TIME_OPS
+	double time = clock.stop()*1e6;
+	std::cout << "unscented predict time: " << time << "\n";
+#endif
+}
+
diff --git a/sw/airborne/fms/libeknav/quaternions.hpp b/sw/airborne/fms/libeknav/quaternions.hpp
index 1190162916..1aad063705 100644
--- a/sw/airborne/fms/libeknav/quaternions.hpp
+++ b/sw/airborne/fms/libeknav/quaternions.hpp
@@ -1,143 +1,143 @@
-#ifndef AHRS_QUATERNIONS_HPP
-#define AHRS_QUATERNIONS_HPP
-
-/*
- * quaternions.cpp
- *
- *      Author: Jonathan Brandmeyer
- *
- *          This file is part of libeknav.
- *
- *  Libeknav 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, version 3.
- *
- *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
-using Eigen::Quaternion;
-
-template<typename FloatT>
-Quaternion<FloatT> operator-(const Quaternion<FloatT>& q)
-{
-	return Quaternion<FloatT>(-q.w(), -q.x(), -q.y(), -q.z());
-}
-
-/**
- * Convert a rotation from modified Rodrigues parameters to a quaternion.
- * @param v The multiplication of the rotation angle by the tangent of the angle/4
- * @return The quaternion corresponding to that rotation.
- */
-template<typename FloatT>
-Quaternion<FloatT> exp_r(const Eigen::Matrix<FloatT, 3, 1>& v)
-{
-	// a2 = tan^2(theta/4)
-	FloatT a2 = v.squaredNorm();
-	Quaternion<FloatT> ret;
-	// sin(theta/2) = 2*tan(theta/4) / (1 + tan^2(theta/4))
-	// v == v.normalized() * tan^2(theta/4)
-	ret.vec() = v*(2/(1+a2));
-	// cos(theta/2) = (1 - tan^2(theta/4)) / (1 + tan^2(theta/4))
-	ret.w() = (1-a2)/(1+a2);
-	return ret;
-}
-
-template<typename FloatT>
-Eigen::Matrix<FloatT, 3, 1> log_r(const Quaternion<FloatT>& q)
-{
-	// Note: This algorithm is reasonably safe when using double
-	// precision (to within 1e-10 of precision), but not float.
-	/*
-	 * q.w() == cos(theta/2)
-	 * q.vec() == sin(theta/2)*v_hat
-	 *
-	 *
-	 * Normal rodrigues params:
-	 * v*tan(theta/2) = v*sin(theta/2) / cos(theta/2)
-	 * v*tan(theta/2) = q.vec() / q.w()
-	 *
-	 * Modified rodrigues params (pulls away from infinity at theta=pi)
-	 * tan(theta/2) == sin(theta) / (1 + cos(theta))
-	 * therefore, tan(theta/4)*v_hat = sin(theta/2)*v_hat / (1 + cos(theta/2))
-	 */
-	return q.vec() / (1.0+q.w());
-}
-
-/**
- * Convert an angle/axis 3-vector to a unit quaternion
- * @param v A 3-vector whose length is between 0 and 2*pi
- * @return The quaternion that represents the same rotation.
- */
-template<typename FloatT>
-Quaternion<FloatT> exp(Eigen::Matrix<FloatT, 3, 1> v);
-
-template<typename FloatT>
-Quaternion<FloatT> exp(Eigen::Matrix<FloatT, 3, 1> v)
-{
-	FloatT angle = v.norm();
-	if (angle <= Eigen::machine_epsilon<FloatT>()) {
-		// std::cerr << "Warning: tiny quaternion flushed to zero\n";
-		return Quaternion<FloatT>::Identity();
-	}
-	else {
-		Quaternion<FloatT> ret;
-#if 0
-		if (angle > 1.999*M_PI) {
-			// TODO: I really, really don't like this hack. It should
-			// be impossible to compute an angular measurement update
-			// with a rotation angle greater than this number...
-			v *= 1.999*M_PI / angle;
-			angle = 1.999*M_PI;
-		}
-#endif
-		assert(angle <= FloatT(2.0*M_PI));
-#if 0
-		// Oddly enough, this attempt to make the formula faster by reducing
-		// the number of trig calls actually runs slower.
-		FloatT tan_x = std::tan(angle * 0.25);
-		FloatT cos_angle = (1 - tan_x*tan_x)/(1+tan_x*tan_x);
-		FloatT sin_angle = 2*tan_x/(1+tan_x*tan_x);
-		ret.w() = cos_angle;
-		ret.vec() = (sin_angle/angle)*v;
-#else
-		ret.w() = std::cos(angle*0.5);
-		ret.vec() = (std::sin(angle*0.5)/angle)*v;
-#endif
-		return ret;
-		// return Quaternion<FloatT>(Eigen::AngleAxis<FloatT>(angle, v / angle));
-	}
-}
-
-/**
- * Convert a unit quaternion to multiplied angle/axis form.
- * @param q A unit quaternion.  The quaternion's norm should be close to unity,
- * but may be slightly too large or small.
- * @return The 3-vector in the tangent space of the quaternion q.
- */
-template<typename FloatT>
-Eigen::Matrix<FloatT, 3, 1> log(const Quaternion<FloatT>& q) __attribute__((noinline));
-
-template<typename FloatT>
-Eigen::Matrix<FloatT, 3, 1> log(const Quaternion<FloatT>& q)
-{
-	FloatT mag = q.vec().norm();
-	if (mag <= Eigen::machine_epsilon<FloatT>()) {
-		// Flush to zero for very small angles.  This avoids division by zero.
-		return Eigen::Matrix<FloatT, 3, 1>::Zero();
-	}
-	FloatT angle = 2.0*std::atan2(mag, q.w());
-	return q.vec() * (angle/mag);
-	// Eigen::AngleAxis<FloatT> res(q /*mag <= 1.0) ? q : q.normalized() */);
-	// return res.axis() * res.angle();
-}
-
-#endif
+#ifndef AHRS_QUATERNIONS_HPP
+#define AHRS_QUATERNIONS_HPP
+
+/*
+ * quaternions.cpp
+ *
+ *      Author: Jonathan Brandmeyer
+ *
+ *          This file is part of libeknav.
+ *
+ *  Libeknav 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, version 3.
+ *
+ *  Libeknav 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 libeknav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+using Eigen::Quaternion;
+
+template<typename FloatT>
+Quaternion<FloatT> operator-(const Quaternion<FloatT>& q)
+{
+	return Quaternion<FloatT>(-q.w(), -q.x(), -q.y(), -q.z());
+}
+
+/**
+ * Convert a rotation from modified Rodrigues parameters to a quaternion.
+ * @param v The multiplication of the rotation angle by the tangent of the angle/4
+ * @return The quaternion corresponding to that rotation.
+ */
+template<typename FloatT>
+Quaternion<FloatT> exp_r(const Eigen::Matrix<FloatT, 3, 1>& v)
+{
+	// a2 = tan^2(theta/4)
+	FloatT a2 = v.squaredNorm();
+	Quaternion<FloatT> ret;
+	// sin(theta/2) = 2*tan(theta/4) / (1 + tan^2(theta/4))
+	// v == v.normalized() * tan^2(theta/4)
+	ret.vec() = v*(2/(1+a2));
+	// cos(theta/2) = (1 - tan^2(theta/4)) / (1 + tan^2(theta/4))
+	ret.w() = (1-a2)/(1+a2);
+	return ret;
+}
+
+template<typename FloatT>
+Eigen::Matrix<FloatT, 3, 1> log_r(const Quaternion<FloatT>& q)
+{
+	// Note: This algorithm is reasonably safe when using double
+	// precision (to within 1e-10 of precision), but not float.
+	/*
+	 * q.w() == cos(theta/2)
+	 * q.vec() == sin(theta/2)*v_hat
+	 *
+	 *
+	 * Normal rodrigues params:
+	 * v*tan(theta/2) = v*sin(theta/2) / cos(theta/2)
+	 * v*tan(theta/2) = q.vec() / q.w()
+	 *
+	 * Modified rodrigues params (pulls away from infinity at theta=pi)
+	 * tan(theta/2) == sin(theta) / (1 + cos(theta))
+	 * therefore, tan(theta/4)*v_hat = sin(theta/2)*v_hat / (1 + cos(theta/2))
+	 */
+	return q.vec() / (1.0+q.w());
+}
+
+/**
+ * Convert an angle/axis 3-vector to a unit quaternion
+ * @param v A 3-vector whose length is between 0 and 2*pi
+ * @return The quaternion that represents the same rotation.
+ */
+template<typename FloatT>
+Quaternion<FloatT> exp(Eigen::Matrix<FloatT, 3, 1> v);
+
+template<typename FloatT>
+Quaternion<FloatT> exp(Eigen::Matrix<FloatT, 3, 1> v)
+{
+	FloatT angle = v.norm();
+	if (angle <= Eigen::machine_epsilon<FloatT>()) {
+		// std::cerr << "Warning: tiny quaternion flushed to zero\n";
+		return Quaternion<FloatT>::Identity();
+	}
+	else {
+		Quaternion<FloatT> ret;
+#if 0
+		if (angle > 1.999*M_PI) {
+			// TODO: I really, really don't like this hack. It should
+			// be impossible to compute an angular measurement update
+			// with a rotation angle greater than this number...
+			v *= 1.999*M_PI / angle;
+			angle = 1.999*M_PI;
+		}
+#endif
+		assert(angle <= FloatT(2.0*M_PI));
+#if 0
+		// Oddly enough, this attempt to make the formula faster by reducing
+		// the number of trig calls actually runs slower.
+		FloatT tan_x = std::tan(angle * 0.25);
+		FloatT cos_angle = (1 - tan_x*tan_x)/(1+tan_x*tan_x);
+		FloatT sin_angle = 2*tan_x/(1+tan_x*tan_x);
+		ret.w() = cos_angle;
+		ret.vec() = (sin_angle/angle)*v;
+#else
+		ret.w() = std::cos(angle*0.5);
+		ret.vec() = (std::sin(angle*0.5)/angle)*v;
+#endif
+		return ret;
+		// return Quaternion<FloatT>(Eigen::AngleAxis<FloatT>(angle, v / angle));
+	}
+}
+
+/**
+ * Convert a unit quaternion to multiplied angle/axis form.
+ * @param q A unit quaternion.  The quaternion's norm should be close to unity,
+ * but may be slightly too large or small.
+ * @return The 3-vector in the tangent space of the quaternion q.
+ */
+template<typename FloatT>
+Eigen::Matrix<FloatT, 3, 1> log(const Quaternion<FloatT>& q) __attribute__((noinline));
+
+template<typename FloatT>
+Eigen::Matrix<FloatT, 3, 1> log(const Quaternion<FloatT>& q)
+{
+	FloatT mag = q.vec().norm();
+	if (mag <= Eigen::machine_epsilon<FloatT>()) {
+		// Flush to zero for very small angles.  This avoids division by zero.
+		return Eigen::Matrix<FloatT, 3, 1>::Zero();
+	}
+	FloatT angle = 2.0*std::atan2(mag, q.w());
+	return q.vec() * (angle/mag);
+	// Eigen::AngleAxis<FloatT> res(q /*mag <= 1.0) ? q : q.normalized() */);
+	// return res.axis() * res.angle();
+}
+
+#endif
diff --git a/sw/in_progress/airspeed/rls.m b/sw/in_progress/airspeed/rls.m
index f0f1720e98..d70994bdfd 100644
--- a/sw/in_progress/airspeed/rls.m
+++ b/sw/in_progress/airspeed/rls.m
@@ -1,40 +1,40 @@
-clear
-close all
-
-% DATA
-t=1:200;
-orig = sin(t./3)+sin(t./100.*2.*pi);
-echo = [orig(4:end) 0 0 0]./1.2 + 0.5;
-echo = echo + randn(size(orig))./10;
-x = echo;
-d = orig;
-
-% RLS
-rls_p = 5;
-rls_delta = 1;
-rls_lambda = 0.95;
-rls_x = ones(rls_p+1, 1).* x(1);
-rls_w = ones(rls_p+1, 1)./(rls_p+1);
-rls_P = eye(rls_p+1) .* rls_delta;
-
-filt = x;
-
-for i=t
-   rls_x = [ x(i); rls_x(1:end-2); 1];
-   filt(i) = rls_w' * rls_x;
-   rls_alpha = d(i) - filt(i);
-   rls_g = rls_P * rls_x / (rls_lambda + rls_x' * rls_P * rls_x);
-   rls_P = rls_P / rls_lambda - rls_g*rls_x'* rls_P / rls_lambda;
-   rls_w = rls_w + rls_alpha * rls_g;
-   
-   
-end
-
-
-close all;
-figure;
-plot(orig,'r');
-hold on;
-plot(echo,'b');
-plot(filt,'g');
-
+clear
+close all
+
+% DATA
+t=1:200;
+orig = sin(t./3)+sin(t./100.*2.*pi);
+echo = [orig(4:end) 0 0 0]./1.2 + 0.5;
+echo = echo + randn(size(orig))./10;
+x = echo;
+d = orig;
+
+% RLS
+rls_p = 5;
+rls_delta = 1;
+rls_lambda = 0.95;
+rls_x = ones(rls_p+1, 1).* x(1);
+rls_w = ones(rls_p+1, 1)./(rls_p+1);
+rls_P = eye(rls_p+1) .* rls_delta;
+
+filt = x;
+
+for i=t
+   rls_x = [ x(i); rls_x(1:end-2); 1];
+   filt(i) = rls_w' * rls_x;
+   rls_alpha = d(i) - filt(i);
+   rls_g = rls_P * rls_x / (rls_lambda + rls_x' * rls_P * rls_x);
+   rls_P = rls_P / rls_lambda - rls_g*rls_x'* rls_P / rls_lambda;
+   rls_w = rls_w + rls_alpha * rls_g;
+   
+   
+end
+
+
+close all;
+figure;
+plot(orig,'r');
+hold on;
+plot(echo,'b');
+plot(filt,'g');
+
diff --git a/sw/in_progress/airspeed/rls_control.m b/sw/in_progress/airspeed/rls_control.m
index bc6bfd975b..1364885937 100644
--- a/sw/in_progress/airspeed/rls_control.m
+++ b/sw/in_progress/airspeed/rls_control.m
@@ -1,99 +1,99 @@
-clear
-close all
-
-% DATA
-tmax = 200;
-t=1:tmax;
-command = zeros(1,tmax);
-command(50:150) = 1;
-
-% reference model
-vref = zeros(1,tmax);
-vrefdot = 0;
-
-sysx = 0.2;
-sysvx = 0;
-plotsys = zeros(1,tmax);
-
-integrator = 0;
-plotint  =zeros(1,tmax);
-
-x = zeros(1,1:tmax);
-d = zeros(1,1:tmax);
-filt = zeros(1,1:tmax);
-
-% RLS
-rls_p = 5;
-rls_delta = 1;
-rls_lambda = 0.95;
-rls_x = ones(rls_p+1, 1).* x(1);
-rls_w = ones(rls_p+1, 1)./(rls_p+1);
-rls_P = eye(rls_p+1) .* rls_delta;
-
-for i=2:tmax
-    acc = (command(i) - vref(i-1)) / 8 - vrefdot * 0.7 ;
-    if (acc > 0.02)
-        acc = 0.02;
-    elseif (acc<-0.02)
-        acc = -0.02;
-    end
-    vrefdot = vrefdot + acc;
-    if vrefdot > 0.5
-        vrefdot = 0.5
-    elseif vrefdot < -0.5
-        vrefdot = 0.5
-    end
-    vref(i) = vref(i-1) + vrefdot;
-    
-    % Control with Integrator
-    error = vref(i) - sysx + rand(1,1) / 20.0;
-    integrator = integrator + error / 2;
-    syscomm = error * 4 + integrator;
-    
-    sysacc = (syscomm - (sysx-0.2)*0.75) / 5 - sysvx*0.6;
-    if (sysacc > 0.04)
-        sysacc = 0.04;
-    elseif (sysacc<-0.04)
-        sysacc = -0.04;
-    end
-    sysvx = sysvx + sysacc;
-    if sysvx > 0.6
-        sysvx = 0.6
-    elseif sysvx < -0.7
-        sysvx = 0.7
-    end
-    sysx = sysx + sysvx;
-    
-    plotsys(i) = sysx;
-    plotint(i) = integrator;
-end
-
-close all
-figure
-plot(command , 'r');
-hold on
-plot(vref,'g');
-plot(plotsys,'b')
-plot(plotint,'k');
-
-%% Rest
-
-
-for i=t
-   rls_x = [ x(i); rls_x(1:end-1)];
-   filt(i) = rls_w' * rls_x;
-   rls_alpha = d(i) - filt(i);
-   rls_g = rls_P * rls_x / (rls_lambda + rls_x' * rls_P * rls_x);
-   rls_P = rls_P / rls_lambda - rls_g*rls_x'* rls_P / rls_lambda;
-   rls_w = rls_w + rls_alpha * rls_g;
-   
-   
-end
-
-
-figure;
-plot(orig,'r');
-hold on;
-plot(echo,'b');
-plot(filt,'g');
-
+clear
+close all
+
+% DATA
+tmax = 200;
+t=1:tmax;
+command = zeros(1,tmax);
+command(50:150) = 1;
+
+% reference model
+vref = zeros(1,tmax);
+vrefdot = 0;
+
+sysx = 0.2;
+sysvx = 0;
+plotsys = zeros(1,tmax);
+
+integrator = 0;
+plotint  =zeros(1,tmax);
+
+x = zeros(1,1:tmax);
+d = zeros(1,1:tmax);
+filt = zeros(1,1:tmax);
+
+% RLS
+rls_p = 5;
+rls_delta = 1;
+rls_lambda = 0.95;
+rls_x = ones(rls_p+1, 1).* x(1);
+rls_w = ones(rls_p+1, 1)./(rls_p+1);
+rls_P = eye(rls_p+1) .* rls_delta;
+
+for i=2:tmax
+    acc = (command(i) - vref(i-1)) / 8 - vrefdot * 0.7 ;
+    if (acc > 0.02)
+        acc = 0.02;
+    elseif (acc<-0.02)
+        acc = -0.02;
+    end
+    vrefdot = vrefdot + acc;
+    if vrefdot > 0.5
+        vrefdot = 0.5
+    elseif vrefdot < -0.5
+        vrefdot = 0.5
+    end
+    vref(i) = vref(i-1) + vrefdot;
+    
+    % Control with Integrator
+    error = vref(i) - sysx + rand(1,1) / 20.0;
+    integrator = integrator + error / 2;
+    syscomm = error * 4 + integrator;
+    
+    sysacc = (syscomm - (sysx-0.2)*0.75) / 5 - sysvx*0.6;
+    if (sysacc > 0.04)
+        sysacc = 0.04;
+    elseif (sysacc<-0.04)
+        sysacc = -0.04;
+    end
+    sysvx = sysvx + sysacc;
+    if sysvx > 0.6
+        sysvx = 0.6
+    elseif sysvx < -0.7
+        sysvx = 0.7
+    end
+    sysx = sysx + sysvx;
+    
+    plotsys(i) = sysx;
+    plotint(i) = integrator;
+end
+
+close all
+figure
+plot(command , 'r');
+hold on
+plot(vref,'g');
+plot(plotsys,'b')
+plot(plotint,'k');
+
+%% Rest
+
+
+for i=t
+   rls_x = [ x(i); rls_x(1:end-1)];
+   filt(i) = rls_w' * rls_x;
+   rls_alpha = d(i) - filt(i);
+   rls_g = rls_P * rls_x / (rls_lambda + rls_x' * rls_P * rls_x);
+   rls_P = rls_P / rls_lambda - rls_g*rls_x'* rls_P / rls_lambda;
+   rls_w = rls_w + rls_alpha * rls_g;
+   
+   
+end
+
+
+figure;
+plot(orig,'r');
+hold on;
+plot(echo,'b');
+plot(filt,'g');
+
diff --git a/sw/in_progress/airspeed/ultrasimplesim.m b/sw/in_progress/airspeed/ultrasimplesim.m
index 2b7be7b9f8..3f1369a105 100644
--- a/sw/in_progress/airspeed/ultrasimplesim.m
+++ b/sw/in_progress/airspeed/ultrasimplesim.m
@@ -1,429 +1,429 @@
-clear
-clc
-close all
-
-
-
-dt = 1/60;
-simsteps = 25000;
-
-timespan=0:1/60:100;
-
-t = 0;
-airspeed = 14;
-acceleration = 0;
-vclimb = 0;
-altitude = 100;
-pitch = 0;
-alpha = 0;
-pitch_sp = 0.2;
-throttle = 0.5;
-power = 0.25;
-elevator = 0;
-
-
-% Altitude command
-altitude_sp  = ones(1,simsteps).* 100;
-% Airspeed command
-airspeed_sp  = ones(1,simsteps).* 12;
-
-% slow climb + descend
-altitude_sp(1,2000:4000) = 125;
-% fast climb + descend
-airspeed_sp(1,6000:12000) = 16;
-altitude_sp(1,8000:10000) = 125;
-% too low airspeed
-airspeed_sp(1,13000:14000) = 7;
-% too high airspeed
-airspeed_sp(1,15000:16000) = 30;
-% throttle kill batlow
-battery_good = ones(1,simsteps);
-battery_good(1,24000:25000) = 0;
-% Roll perturbation
-roll_perturbation = zeros(1,simsteps);
-% roll oscillation: e.g. poor nav
-roll_perturbation(1,21000:24000) = abs(sin((21000:24000)./170 .* 6.28));
-% Headwind changes by making turns
-% -to keep a constant airspeed, a kinematic acceleration is needed
-% -or with constant kinetic energy, a change in airspeed is seen
-wind = zeros(1,simsteps);
-% 60Hz 70m circle 11m/s 410m = ca 2000 samples
-wind(1, 17000:23000) = sin((17000:23000)./2000 .* 6.28) .* 5;
-% derivative of sin is cos so we might also just turn the wind 90deg
-headwind_induced_kinematic_acceleration = wind .* 0.10;
-
-
-
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% Save states for plotting
-X = zeros(simsteps,15);
-extra1 = 0;
-extra2 = 0;
-
-% Very ultra-sofisticated Aircraft Model
-Vmax    = 26;   % Level flight full power
-Vmin    = 8;    % Stall
-Mass    = 1.0;
-
-% Controller States
-pitch_cumsum = 0;
-airspeed_cumsum = 0;
-
-% RLS
-rls_p = 3;
-rls_delta = 0;
-rls_x = zeros(rls_p+1, 1);
-rls_w = zeros(rls_p+1, 1);
-rls_P = eye(rls_p+1) .* rls_delta;
-
-
-for i=1:simsteps
-    
-    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-    % Simplified A/C long dynamics with stall and energy
-    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-    % Pitch loop without integrators
-    pitch_neutral = 0.2;
-    elevator = (pitch_neutral + pitch_sp - pitch) * 15;
-    if (elevator > 0.4)
-        elevator = 0.4;
-    elseif (elevator < -0.2)
-        elevator = -0.2;
-    end
-    % Follow elevator but also align with the flow
-    pitch = pitch + elevator * dt - alpha * dt; 
-    % Angle of attack from 0 deg at vmax to 17 deg stall at vmin
-    if airspeed > Vmax
-        alpha = 0;
-        LoverD = 6;
-    elseif airspeed < Vmin
-        % from Vmin downto 0.95 Vmin ... increase alpha from 17 to 45 deg 
-        lin = (Vmin-airspeed) / (0.05*Vmin);
-        if (lin > 1)
-            lin = 1;
-        end
-        alpha = (17 + (60-17) * lin) / 57; % complete stall
-        LoverD = 8 - 7 * lin;
-    else
-        alpha = (Vmax - airspeed) / (Vmax-Vmin) * 17.0 / 57;
-        LoverD = 8;
-    end
-    % Path angle
-    gamma = pitch - alpha;
-    vclimb = sin(gamma) * airspeed;
-    altitude = altitude + vclimb * dt;
-    % Using the pitch angle...
-    P_climb = vclimb * Mass;
-    % Lift over Drag
-    P_drag = airspeed / (LoverD / (1+roll_perturbation(i))) * Mass;
-    % Motor Energy
-    power_sp = throttle ^ 2;
-    power = power + (power_sp - power) * 0.1;
-    % Full throttle = same energy as vmax glide
-    P_motor = (Vmax / LoverD) * sqrt(power) * Mass;
-    % Total energy
-    P_tot = P_motor - P_drag - P_climb;
-
-    acceleration = P_tot / Mass + headwind_induced_kinematic_acceleration(i);
-    airspeed = airspeed + (acceleration * dt);
-    
-    if (airspeed < Vmin/2)
-        airspeed = Vmin/2;
-    end
-    if (altitude < 0)
-        altitude = 0;
-    end
-    
-    
-    controller = 4;
-
-
-    
-    %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 1: Standard no-airspeed
-    
-    if controller == 1
-        Throttle_min = 0.0;
-        Throttle_max = 1.;
-        
-        Pitch_min = -30/57;
-        Pitch_max = 45/57;
-
-        VClimb_max = 3;
-        
-
-        % Traditional with integrators:
-
-        vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > VClimb_max)
-            vclimb_sp = VClimb_max;
-        elseif (vclimb_sp < -VClimb_max)
-            vclimb_sp = -VClimb_max;
-        end
-        % throttle increment only....
-        throttle = 0.65 + vclimb_sp * 0.9;
-        if (throttle > Throttle_max)
-            throttle = Throttle_max;
-        elseif (throttle < Throttle_min)
-            throttle = Throttle_min;
-        end
-        % pitch of vz
-        pitch_sp = 0.025 +  vclimb_sp * 0.05;
-        if (pitch_sp > Pitch_max)
-            pitch_sp = Pitch_max;
-        elseif (pitch_sp < Pitch_min)
-            pitch_sp = Pitch_min;
-        end 
-
-    %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 2-3: Old Airspeed Loops
-    % 2: with saturated integrator as most people used
-    % 3: with active integrator
-    
-    elseif (controller == 2) || (controller == 3)
-        Throttle_min = 0.0;
-        Throttle_max = 1;
-        
-        Pitch_min = -6/57;
-        Pitch_max = 15/57;
-
-        VClimb_max = 1.0;
-        
-        
-
-        % Traditional with integrators:
-
-        vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > VClimb_max)
-            vclimb_sp = VClimb_max;
-        elseif (vclimb_sp < -VClimb_max)
-            vclimb_sp = -VClimb_max;
-        end
-        % I-gain
-        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
-        if (pitch_cumsum > Pitch_max)
-            pitch_cumsum = Pitch_max;
-        elseif (pitch_cumsum < Pitch_min)
-            pitch_cumsum = Pitch_min;
-        end 
-        % P-gain
-        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
-        if (pitch_sp > Pitch_max)
-            pitch_sp = Pitch_max;
-        elseif (pitch_sp < Pitch_min)
-            pitch_sp = Pitch_min;
-        end 
-
-        err_airspeed = airspeed_sp(i) - airspeed;
-        if (controller == 2)
-            airspeed_cumsum = 0.45;
-        else
-            airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.001;
-        end
-        if (airspeed_cumsum > Throttle_max)
-            airspeed_cumsum = Throttle_max;
-        elseif (airspeed_cumsum < Throttle_min)
-            airspeed_cumsum = Throttle_min;
-        end
-        throttle = airspeed_cumsum + err_airspeed * 0.2;
-        if (throttle > Throttle_max)
-            throttle = Throttle_max;
-        elseif (throttle < Throttle_min)
-            throttle = Throttle_min;
-        end
-    
-    %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 4: Feed Forward Gains to climb/accelerate Tcr+Tcl
-    
-    elseif controller == 4
-        Throttle_min = 0.0;
-        Throttle_max = 1;
-        
-        Pitch_min = -12/57;
-        Pitch_max = 25/57;
-
-        if (airspeed_sp(i) <= 12)
-            VClimb_max = 3;
-            Pitch_max = 10.5/57;
-            Pitch_min = -4.5/57;
-        else
-            VClimb_max = 2;
-            Pitch_max = 3.5/57;
-            Pitch_min = -11/57;
-        end
-        
-        % Climb feed forward gain per m/s
-        Tcl = 0.25;
-        % Cruise feed forward gain per m/s
-        Tcr = 1/26;
-
-        % Traditional with integrators:
-
-        vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > VClimb_max)
-            vclimb_sp = VClimb_max;
-        elseif (vclimb_sp < -VClimb_max)
-            vclimb_sp = -VClimb_max;
-        end
-        % I-gain
-        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
-        if (pitch_cumsum > Pitch_max)
-            pitch_cumsum = Pitch_max;
-        elseif (pitch_cumsum < Pitch_min)
-            pitch_cumsum = Pitch_min;
-        end 
-        % P-gain
-        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
-        if (pitch_sp > Pitch_max)
-            pitch_sp = Pitch_max;
-        elseif (pitch_sp < Pitch_min)
-            pitch_sp = Pitch_min;
-        end 
-
-        err_airspeed = airspeed_sp(i) - airspeed;
-        airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.0005;
-        if (airspeed_cumsum > Throttle_max)
-            airspeed_cumsum = Throttle_max;
-        elseif (airspeed_cumsum < Throttle_min)
-            airspeed_cumsum = Throttle_min;
-        end
-        throttle = airspeed_cumsum + err_airspeed * 0.2 + Tcr * airspeed_sp(i) + Tcl * vclimb_sp;
-        if (throttle > Throttle_max)
-            throttle = Throttle_max;
-        elseif (throttle < Throttle_min)
-            throttle = Throttle_min;
-        end
-    
-    %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 5: Feed Forward Gains to climb/accelerate Tcr+Tcl
-    
-    elseif controller == 5
-        Throttle_min = 0.0;
-        Throttle_max = 1;
-        
-        Pitch_min = -6/57;
-        Pitch_max = 15/57;
-
-        VClimb_max = 1.0;
-        
-        if (i==1)
-            % Climb feed forward gain per m/s
-            Tcl = 0.25;
-            % Cruise feed forward gain per m/s
-            Tcr = 1/2000;
-        end
-
-        % Traditional with integrators:
-
-        vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > VClimb_max)
-            vclimb_sp = VClimb_max;
-        elseif (vclimb_sp < -VClimb_max)
-            vclimb_sp = -VClimb_max;
-        end
-        % I-gain
-        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
-        if (pitch_cumsum > Pitch_max)
-            pitch_cumsum = Pitch_max;
-        elseif (pitch_cumsum < Pitch_min)
-            pitch_cumsum = Pitch_min;
-        end 
-        % P-gain
-        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
-        if (pitch_sp > Pitch_max)
-            pitch_sp = Pitch_max;
-        elseif (pitch_sp < Pitch_min)
-            pitch_sp = Pitch_min;
-        end 
-
-        err_airspeed = airspeed_sp(i) - airspeed;
-        if (abs(vclimb_sp) > 0.5)        
-            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
-            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
-        else
-            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
-            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
-        end
-        throttle = err_airspeed * 0.2 + Tcr * airspeed_sp(i) + Tcl * vclimb_sp;
-        if (throttle > Throttle_max)
-            throttle = Throttle_max;
-        elseif (throttle < Throttle_min)
-            throttle = Throttle_min;
-        end
-    
-        extra1 = Tcr;
-    end
-    
-    % Autopilot actions
-    if battery_good(i) == 0
-        throttle = 0;
-    end
-    
-    % Save For plotting
-    X(i,:) = [  airspeed_sp(i) airspeed altitude_sp(i) altitude  throttle power pitch_sp (pitch-pitch_neutral) alpha gamma elevator vclimb_sp vclimb extra1 extra2]; 
-    
-end
-
-
-
-figure
-subplot(6,1,1)
-hold on
-plot(airspeed_sp,'r');
-plot(X(:,2),'b');
-plot(ones(simsteps,1)*Vmin,'k');
-plot(ones(simsteps,1)*Vmax,'k');
-title('Airspeed')
-axis([0 simsteps Vmin-1 Vmax+1]);
-grid
-
-subplot(6,1,2)
-hold on
-plot(altitude_sp,'r');
-plot(X(:,4),'b');
-title('Altitude')
-axis([0 simsteps (min(altitude_sp) - 10) (max(altitude_sp)+10)]);
-grid
-
-subplot(6,1,3)
-hold on
-plot(X(:,5),'r');
-title('Throttle')
-axis([0 simsteps 0 1]);
-grid
-
-
-subplot(6,1,4)
-hold on
-plot(X(:,7)*57,'r');
-plot(X(:,8)*57,'b');
-title('Pitch (degrees)')
-axis([0 simsteps (Pitch_min*57-3) (Pitch_max*57 + 3)]);
-grid
-
-subplot(6,1,5)
-hold on
-plot(X(:,9)*57,'g');
-plot(ones(simsteps,1)*17,'r');
-plot(X(:,10)*57,'k');
-axis([0 simsteps -10 20]);
-title('Alpha (green) Gamma (black) (degrees)')
-%legend('1','2')
-grid
-
-subplot(6,1,6)
-hold on
-plot(X(:,12),'r');
-plot(X(:,13),'b');
-title('VClimb')
-axis([0 simsteps (-VClimb_max -0.5) (VClimb_max + 0.5)]);
-grid
-
-set(gcf,'PaperUnits','centimeter')
-set(gcf,'PaperSize',[21 30.5])
-set(gcf,'PaperPosition',[1 1 19 28.5])
-print(gcf,'-depsc2', ['results_' num2str(controller)]);
-%print(gcf,'-djpeg', ['results_' num2str(controller)]);
-
-
+clear
+clc
+close all
+
+
+
+dt = 1/60;
+simsteps = 25000;
+
+timespan=0:1/60:100;
+
+t = 0;
+airspeed = 14;
+acceleration = 0;
+vclimb = 0;
+altitude = 100;
+pitch = 0;
+alpha = 0;
+pitch_sp = 0.2;
+throttle = 0.5;
+power = 0.25;
+elevator = 0;
+
+
+% Altitude command
+altitude_sp  = ones(1,simsteps).* 100;
+% Airspeed command
+airspeed_sp  = ones(1,simsteps).* 12;
+
+% slow climb + descend
+altitude_sp(1,2000:4000) = 125;
+% fast climb + descend
+airspeed_sp(1,6000:12000) = 16;
+altitude_sp(1,8000:10000) = 125;
+% too low airspeed
+airspeed_sp(1,13000:14000) = 7;
+% too high airspeed
+airspeed_sp(1,15000:16000) = 30;
+% throttle kill batlow
+battery_good = ones(1,simsteps);
+battery_good(1,24000:25000) = 0;
+% Roll perturbation
+roll_perturbation = zeros(1,simsteps);
+% roll oscillation: e.g. poor nav
+roll_perturbation(1,21000:24000) = abs(sin((21000:24000)./170 .* 6.28));
+% Headwind changes by making turns
+% -to keep a constant airspeed, a kinematic acceleration is needed
+% -or with constant kinetic energy, a change in airspeed is seen
+wind = zeros(1,simsteps);
+% 60Hz 70m circle 11m/s 410m = ca 2000 samples
+wind(1, 17000:23000) = sin((17000:23000)./2000 .* 6.28) .* 5;
+% derivative of sin is cos so we might also just turn the wind 90deg
+headwind_induced_kinematic_acceleration = wind .* 0.10;
+
+
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Save states for plotting
+X = zeros(simsteps,15);
+extra1 = 0;
+extra2 = 0;
+
+% Very ultra-sofisticated Aircraft Model
+Vmax    = 26;   % Level flight full power
+Vmin    = 8;    % Stall
+Mass    = 1.0;
+
+% Controller States
+pitch_cumsum = 0;
+airspeed_cumsum = 0;
+
+% RLS
+rls_p = 3;
+rls_delta = 0;
+rls_x = zeros(rls_p+1, 1);
+rls_w = zeros(rls_p+1, 1);
+rls_P = eye(rls_p+1) .* rls_delta;
+
+
+for i=1:simsteps
+    
+    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+    % Simplified A/C long dynamics with stall and energy
+    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+    % Pitch loop without integrators
+    pitch_neutral = 0.2;
+    elevator = (pitch_neutral + pitch_sp - pitch) * 15;
+    if (elevator > 0.4)
+        elevator = 0.4;
+    elseif (elevator < -0.2)
+        elevator = -0.2;
+    end
+    % Follow elevator but also align with the flow
+    pitch = pitch + elevator * dt - alpha * dt; 
+    % Angle of attack from 0 deg at vmax to 17 deg stall at vmin
+    if airspeed > Vmax
+        alpha = 0;
+        LoverD = 6;
+    elseif airspeed < Vmin
+        % from Vmin downto 0.95 Vmin ... increase alpha from 17 to 45 deg 
+        lin = (Vmin-airspeed) / (0.05*Vmin);
+        if (lin > 1)
+            lin = 1;
+        end
+        alpha = (17 + (60-17) * lin) / 57; % complete stall
+        LoverD = 8 - 7 * lin;
+    else
+        alpha = (Vmax - airspeed) / (Vmax-Vmin) * 17.0 / 57;
+        LoverD = 8;
+    end
+    % Path angle
+    gamma = pitch - alpha;
+    vclimb = sin(gamma) * airspeed;
+    altitude = altitude + vclimb * dt;
+    % Using the pitch angle...
+    P_climb = vclimb * Mass;
+    % Lift over Drag
+    P_drag = airspeed / (LoverD / (1+roll_perturbation(i))) * Mass;
+    % Motor Energy
+    power_sp = throttle ^ 2;
+    power = power + (power_sp - power) * 0.1;
+    % Full throttle = same energy as vmax glide
+    P_motor = (Vmax / LoverD) * sqrt(power) * Mass;
+    % Total energy
+    P_tot = P_motor - P_drag - P_climb;
+
+    acceleration = P_tot / Mass + headwind_induced_kinematic_acceleration(i);
+    airspeed = airspeed + (acceleration * dt);
+    
+    if (airspeed < Vmin/2)
+        airspeed = Vmin/2;
+    end
+    if (altitude < 0)
+        altitude = 0;
+    end
+    
+    
+    controller = 4;
+
+
+    
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 1: Standard no-airspeed
+    
+    if controller == 1
+        Throttle_min = 0.0;
+        Throttle_max = 1.;
+        
+        Pitch_min = -30/57;
+        Pitch_max = 45/57;
+
+        VClimb_max = 3;
+        
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % throttle increment only....
+        throttle = 0.65 + vclimb_sp * 0.9;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+        % pitch of vz
+        pitch_sp = 0.025 +  vclimb_sp * 0.05;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 2-3: Old Airspeed Loops
+    % 2: with saturated integrator as most people used
+    % 3: with active integrator
+    
+    elseif (controller == 2) || (controller == 3)
+        Throttle_min = 0.0;
+        Throttle_max = 1;
+        
+        Pitch_min = -6/57;
+        Pitch_max = 15/57;
+
+        VClimb_max = 1.0;
+        
+        
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % I-gain
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
+        if (pitch_cumsum > Pitch_max)
+            pitch_cumsum = Pitch_max;
+        elseif (pitch_cumsum < Pitch_min)
+            pitch_cumsum = Pitch_min;
+        end 
+        % P-gain
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+        err_airspeed = airspeed_sp(i) - airspeed;
+        if (controller == 2)
+            airspeed_cumsum = 0.45;
+        else
+            airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.001;
+        end
+        if (airspeed_cumsum > Throttle_max)
+            airspeed_cumsum = Throttle_max;
+        elseif (airspeed_cumsum < Throttle_min)
+            airspeed_cumsum = Throttle_min;
+        end
+        throttle = airspeed_cumsum + err_airspeed * 0.2;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+    
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 4: Feed Forward Gains to climb/accelerate Tcr+Tcl
+    
+    elseif controller == 4
+        Throttle_min = 0.0;
+        Throttle_max = 1;
+        
+        Pitch_min = -12/57;
+        Pitch_max = 25/57;
+
+        if (airspeed_sp(i) <= 12)
+            VClimb_max = 3;
+            Pitch_max = 10.5/57;
+            Pitch_min = -4.5/57;
+        else
+            VClimb_max = 2;
+            Pitch_max = 3.5/57;
+            Pitch_min = -11/57;
+        end
+        
+        % Climb feed forward gain per m/s
+        Tcl = 0.25;
+        % Cruise feed forward gain per m/s
+        Tcr = 1/26;
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % I-gain
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
+        if (pitch_cumsum > Pitch_max)
+            pitch_cumsum = Pitch_max;
+        elseif (pitch_cumsum < Pitch_min)
+            pitch_cumsum = Pitch_min;
+        end 
+        % P-gain
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+        err_airspeed = airspeed_sp(i) - airspeed;
+        airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.0005;
+        if (airspeed_cumsum > Throttle_max)
+            airspeed_cumsum = Throttle_max;
+        elseif (airspeed_cumsum < Throttle_min)
+            airspeed_cumsum = Throttle_min;
+        end
+        throttle = airspeed_cumsum + err_airspeed * 0.2 + Tcr * airspeed_sp(i) + Tcl * vclimb_sp;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+    
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 5: Feed Forward Gains to climb/accelerate Tcr+Tcl
+    
+    elseif controller == 5
+        Throttle_min = 0.0;
+        Throttle_max = 1;
+        
+        Pitch_min = -6/57;
+        Pitch_max = 15/57;
+
+        VClimb_max = 1.0;
+        
+        if (i==1)
+            % Climb feed forward gain per m/s
+            Tcl = 0.25;
+            % Cruise feed forward gain per m/s
+            Tcr = 1/2000;
+        end
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % I-gain
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
+        if (pitch_cumsum > Pitch_max)
+            pitch_cumsum = Pitch_max;
+        elseif (pitch_cumsum < Pitch_min)
+            pitch_cumsum = Pitch_min;
+        end 
+        % P-gain
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+        err_airspeed = airspeed_sp(i) - airspeed;
+        if (abs(vclimb_sp) > 0.5)        
+            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
+            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
+        else
+            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
+            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
+        end
+        throttle = err_airspeed * 0.2 + Tcr * airspeed_sp(i) + Tcl * vclimb_sp;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+    
+        extra1 = Tcr;
+    end
+    
+    % Autopilot actions
+    if battery_good(i) == 0
+        throttle = 0;
+    end
+    
+    % Save For plotting
+    X(i,:) = [  airspeed_sp(i) airspeed altitude_sp(i) altitude  throttle power pitch_sp (pitch-pitch_neutral) alpha gamma elevator vclimb_sp vclimb extra1 extra2]; 
+    
+end
+
+
+
+figure
+subplot(6,1,1)
+hold on
+plot(airspeed_sp,'r');
+plot(X(:,2),'b');
+plot(ones(simsteps,1)*Vmin,'k');
+plot(ones(simsteps,1)*Vmax,'k');
+title('Airspeed')
+axis([0 simsteps Vmin-1 Vmax+1]);
+grid
+
+subplot(6,1,2)
+hold on
+plot(altitude_sp,'r');
+plot(X(:,4),'b');
+title('Altitude')
+axis([0 simsteps (min(altitude_sp) - 10) (max(altitude_sp)+10)]);
+grid
+
+subplot(6,1,3)
+hold on
+plot(X(:,5),'r');
+title('Throttle')
+axis([0 simsteps 0 1]);
+grid
+
+
+subplot(6,1,4)
+hold on
+plot(X(:,7)*57,'r');
+plot(X(:,8)*57,'b');
+title('Pitch (degrees)')
+axis([0 simsteps (Pitch_min*57-3) (Pitch_max*57 + 3)]);
+grid
+
+subplot(6,1,5)
+hold on
+plot(X(:,9)*57,'g');
+plot(ones(simsteps,1)*17,'r');
+plot(X(:,10)*57,'k');
+axis([0 simsteps -10 20]);
+title('Alpha (green) Gamma (black) (degrees)')
+%legend('1','2')
+grid
+
+subplot(6,1,6)
+hold on
+plot(X(:,12),'r');
+plot(X(:,13),'b');
+title('VClimb')
+axis([0 simsteps (-VClimb_max -0.5) (VClimb_max + 0.5)]);
+grid
+
+set(gcf,'PaperUnits','centimeter')
+set(gcf,'PaperSize',[21 30.5])
+set(gcf,'PaperPosition',[1 1 19 28.5])
+print(gcf,'-depsc2', ['results_' num2str(controller)]);
+%print(gcf,'-djpeg', ['results_' num2str(controller)]);
+
+
diff --git a/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_PX-TV402U.hex b/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_PX-TV402U.hex
index d587072b2e..d806b19d30 100644
--- a/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_PX-TV402U.hex
+++ b/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_PX-TV402U.hex
@@ -1,368 +1,368 @@
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diff --git a/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_StarTrek.hex b/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_StarTrek.hex
index 6e17c1067b..7db17e4366 100644
--- a/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_StarTrek.hex
+++ b/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_StarTrek.hex
@@ -1,358 +1,358 @@
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diff --git a/sw/tools/calibration/airspeed.m b/sw/tools/calibration/airspeed.m
index d06d370628..af6feedf5e 100644
--- a/sw/tools/calibration/airspeed.m
+++ b/sw/tools/calibration/airspeed.m
@@ -1,75 +1,75 @@
-
-close all
-
-%% Read Data
-
-% AIR = load('airspeed.txt');
-% air = AIR(:,5);
-% desired = AIR(:,6);
-% climb = AIR(:,7)./100;
-% speed = AIR(:,8)./100;
-% alt = AIR(:,9)./100;
-% course = AIR(:,10)./10;
-% 
-% airspeed_bias = 64.5;
-% airspeed_scale = 3.5;
-
-%% Read data
-
-AIR = load('airspeed_amp.txt');
-AIR = AIR(1000:end,:);
-air = AIR(:,6);
-desired = AIR(:,9)./100;
-climb = AIR(:,7)./100;
-speed = AIR(:,8)./100;
-alt = AIR(:,9)./100;
-course = AIR(:,10)./10;
-
-airspeed_bias = 370;
-airspeed_scale = 3.5 / 5.7 * 2.4;
-
-%% Altitude
-
-figure
-hold on
-plot (alt);
-plot(desired,'r');
-grid on;
-
-%% Wind
-
-windx = 7;
-windy = 0;
-
-figure;
-vx = speed .* cosd(course) + windx;
-vy = speed .* sind(course) + windy;
-vz = climb;
-plot(vx,vy,'bx');
-grid on;
-axis equal;
-
-%% Airspeed Calibration
-
-gpsairspeed = sqrt(vx.^2 + vy .^2 + vz.^2);
-
-airsp = air - airspeed_bias;
-airsp = airsp - airsp .* (airsp < 0);
-airsp = sqrt(airsp) * airspeed_scale;
-
-% [b,a] = butter(2,0.1);
-% airsp = filter(b,a,airsp);
-% gpsairspeed = filter(b,a,gpsairspeed);
-
-figure
-plot(airsp,'b');
-hold on;
-plot(gpsairspeed,'r');
-grid on;
-legend('air','gps');
-%plot(climb,'g');
-
-%% Total Energy
-
-%Ekin = airsp .*
-
+
+close all
+
+%% Read Data
+
+% AIR = load('airspeed.txt');
+% air = AIR(:,5);
+% desired = AIR(:,6);
+% climb = AIR(:,7)./100;
+% speed = AIR(:,8)./100;
+% alt = AIR(:,9)./100;
+% course = AIR(:,10)./10;
+% 
+% airspeed_bias = 64.5;
+% airspeed_scale = 3.5;
+
+%% Read data
+
+AIR = load('airspeed_amp.txt');
+AIR = AIR(1000:end,:);
+air = AIR(:,6);
+desired = AIR(:,9)./100;
+climb = AIR(:,7)./100;
+speed = AIR(:,8)./100;
+alt = AIR(:,9)./100;
+course = AIR(:,10)./10;
+
+airspeed_bias = 370;
+airspeed_scale = 3.5 / 5.7 * 2.4;
+
+%% Altitude
+
+figure
+hold on
+plot (alt);
+plot(desired,'r');
+grid on;
+
+%% Wind
+
+windx = 7;
+windy = 0;
+
+figure;
+vx = speed .* cosd(course) + windx;
+vy = speed .* sind(course) + windy;
+vz = climb;
+plot(vx,vy,'bx');
+grid on;
+axis equal;
+
+%% Airspeed Calibration
+
+gpsairspeed = sqrt(vx.^2 + vy .^2 + vz.^2);
+
+airsp = air - airspeed_bias;
+airsp = airsp - airsp .* (airsp < 0);
+airsp = sqrt(airsp) * airspeed_scale;
+
+% [b,a] = butter(2,0.1);
+% airsp = filter(b,a,airsp);
+% gpsairspeed = filter(b,a,gpsairspeed);
+
+figure
+plot(airsp,'b');
+hold on;
+plot(gpsairspeed,'r');
+grid on;
+legend('air','gps');
+%plot(climb,'g');
+
+%% Total Energy
+
+%Ekin = airsp .*
+