diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:34:22.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:34:22.txt
deleted file mode 100644
index 1ee47eda75bd742163ae7715f285087317d5c0c0..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:34:22.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
24.565682888031006	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.66373586654663	-1.4557	0.1415	47.2697	0.1820	-0.7999	0.6683	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
24.724345922470093	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.88757014274597	-1.4577	0.1313	47.3303	-0.2199	0.8064	-1.0887	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.96124267578125	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.00251579284668	-1.4584	0.1190	47.1984	1.1998	-1.3951	0.2035	0.0000	0.0000	20.0000	0.0000	0.0000	47.2172		
25.03541874885559	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.1234188079834	-1.4407	0.1191	47.3856	-0.7778	-0.8281	1.3296	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.206028699874878	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.258498430252075	-1.4591	0.1086	47.3490	1.0304	0.3375	-1.5666	0.0000	0.0000	20.0000	0.0000	0.0000	47.2929		
25.31503653526306	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.45139193534851	-1.4455	0.1199	47.3017	-0.1993	-0.5088	2.3597	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.538105964660645	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.571956634521484	-1.4366	0.1099	47.6794	0.8755	-1.3050	1.2526	0.0000	0.0000	20.0000	0.0000	0.0000	47.7378		
25.605292081832886	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.785637617111206	-1.4457	0.0938	47.7354	-0.7634	0.1348	-0.7048	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.840142011642456	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.88502526283264	-1.4381	0.0985	47.6529	0.1091	1.0300	0.3576	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
25.921428442001343	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.099419593811035	-1.4311	0.1108	47.6660	1.1256	-0.8883	-0.8640	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.15412926673889	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.193435192108154	-1.4465	0.0995	47.6131	0.6406	1.0266	0.8587	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
26.276126623153687	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.36270546913147	-1.4570	0.1215	47.6481	1.5136	-0.9432	-0.2600	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.440826654434204	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.47763204574585	-1.4631	0.1196	47.5900	-1.1829	-0.3559	-0.2602	0.0000	0.0000	20.0000	0.0000	0.0000	47.5821		
26.513182878494263	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.656317234039307	-1.4494	0.0950	47.6033	0.3368	-0.7195	0.7012	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.727567434310913	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.771989345550537	-1.4264	0.1107	47.6469	-0.2758	0.1964	-0.1672	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.812150478363037	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.002612113952637	-1.4359	0.1401	47.4713	1.9002	-1.2398	-1.3748	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.044194221496582	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.09330940246582	-1.4616	0.1141	47.5030	-0.1843	-0.7474	2.0192	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
27.13434362411499	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.227251529693604	-1.4518	0.0994	47.7286	0.3621	-0.4775	0.2355	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.324148893356323	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.358065128326416	-1.4644	0.0949	47.6568	1.0864	-0.3175	-0.5947	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
27.402559995651245	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.55059051513672	-1.4495	0.0948	47.5912	1.1993	0.0933	0.2758	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.652944803237915	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.687646627426147	-1.4411	0.0889	47.7135	0.5617	-0.6961	0.1610	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
27.738450050354004	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.88200092315674	-1.4550	0.0713	47.7330	0.1843	0.4734	0.1712	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.950589179992676	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.99008345603943	-1.4655	0.0692	47.8380	-1.5425	1.1769	0.6688	0.0000	0.0000	-0.0000	0.0000	0.0000	47.8521		
28.028162956237793	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.137686252593994	-1.4943	0.0620	47.8263	0.2481	-0.2663	0.2158	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.258134603500366	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.294011116027832	-1.5027	0.0440	47.8118	0.1531	0.8179	0.4043	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.329437017440796	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.387256860733032	-1.5033	0.0276	47.8750	1.8387	-0.8506	-0.5784	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.53479290008545	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.57252287864685	-1.5045	0.0418	47.8617	-1.4349	-0.2129	1.1421	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
28.60798668861389	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.765503883361816	-1.5121	0.0583	48.0491	-0.9316	0.6266	1.5094	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.848695039749146	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.89244055747986	-1.5273	0.0538	48.4051	0.8386	-0.2997	2.6663	0.0000	0.0000	20.0000	0.0000	0.0000	48.5298		
28.93026375770569	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.08751106262207	-1.5224	0.0525	48.9263	0.8927	-0.4843	3.5013	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.138180017471313	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.17197322845459	-1.5208	0.0577	49.5025	1.1511	-0.8393	2.9014	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
29.209388494491577	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.358643293380737	-1.5105	0.0379	49.8250	-0.2123	-0.2028	1.6080	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.44946527481079	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.504623651504517	-1.5225	0.0357	50.0905	0.1790	0.6215	2.5765	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.5931339263916	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.706528902053833	-1.5193	0.0321	50.3348	-0.4634	0.2345	1.0076	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.758384227752686	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.801696300506592	-1.5175	0.0145	50.5717	-0.7816	1.5405	1.1330	0.0000	0.0000	20.0000	0.0000	0.0000	50.6265		
29.886054515838623	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.03719162940979	-1.4843	0.0208	50.8089	-1.3825	0.2924	2.0040	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.07960820198059	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.11307406425476	-1.4926	0.0109	51.1913	-0.8043	-0.0552	3.5840	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.14587426185608	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.265336990356445	-1.4907	-0.0281	51.5613	1.1757	-0.6782	0.5824	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.34054923057556	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.384039163589478	-1.4756	-0.0411	51.7637	0.7561	-0.3143	1.6235	0.0000	0.0000	20.0000	0.0000	0.0000	51.8454		
30.42463517189026	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.560707807540894	-1.4745	-0.0514	52.1259	-0.4178	0.2963	2.1508	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.681783199310303	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.71975326538086	-1.4625	-0.0498	52.3632	-0.0737	-0.1089	0.2409	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.75706148147583	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.798449516296387	-1.4693	-0.0341	52.2583	1.3854	1.1854	-1.3259	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.8859441280365	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.956446170806885	-1.4802	-0.0631	52.2304	1.1420	-0.9608	-0.4220	0.0000	0.0000	-0.0000	0.0000	0.0000	52.2328		
31.0021390914917	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.17268204689026	-1.4738	-0.0680	52.1383	1.7471	-0.2452	1.0866	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.244821548461914	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.28620719909668	-1.4579	-0.0476	52.3923	1.9957	0.0452	1.1644	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.327396154403687	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.444743871688843	-1.4734	-0.0498	52.5222	0.7773	-1.2747	0.2986	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.528284072875977	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.56793236732483	-1.4706	-0.0332	52.6858	-1.2866	-0.0985	2.8536	0.0000	0.0000	20.0000	0.0000	0.0000	52.7741		
31.602144479751587	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.72573232650757	-1.4805	-0.0300	53.0809	0.0524	-0.1054	2.9319	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.772621631622314	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.82521462440491	-1.4796	-0.0385	53.6989	1.5170	-1.2125	6.0002	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.88950705528259	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.01580357551575	-1.4746	-0.0752	54.7327	-0.6046	-0.0171	8.7883	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.064791679382324	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.0977885723114	-1.4568	-0.0973	55.9505	-0.2990	0.0728	7.9959	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.134618043899536	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.226966857910156	-1.4540	-0.1259	57.2021	-1.0321	0.5645	9.1313	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.36134314537048	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.38826560974121	-1.4375	-0.1709	58.4757	0.2614	-0.4280	7.4730	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.43191957473755	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.480414390563965	-1.4503	-0.2085	59.8053	0.2637	-0.5758	7.9893	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.62382245063782	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.65811467170715	-1.4466	-0.2398	60.8749	0.9354	0.9420	5.2558	0.0000	0.0000	-0.0000	0.0000	0.0000	61.0742		
33.70701456069946	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.74140787124634	-1.4319	-0.2361	61.2557	0.9522	-1.1629	-1.6359	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.84478044509888	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.937315940856934	-1.4130	-0.2384	60.8936	-1.3640	-0.0557	-0.9212	0.0000	0.0000	20.0000	0.0000	0.0000	60.8498		
33.97268605232239	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.008591175079346	-1.4095	-0.2427	60.9568	-0.0736	0.6108	2.8987	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.087310552597046	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.19708490371704	-1.4192	-0.2629	61.3795	-0.7979	0.5505	1.4948	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.25133156776428	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.290205001831055	-1.4210	-0.2556	61.5419	-0.2243	0.6112	-1.0294	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.3237521648407	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.39260411262512	-1.4010	-0.2470	61.3633	1.4761	-0.8159	-0.0847	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.532623529434204	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.56873679161072	-1.4236	-0.2624	61.6385	2.2641	0.6605	2.8695	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.6354615688324	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.698944091796875	-1.4002	-0.2712	61.9889	1.1075	0.0923	0.5099	0.0000	0.0000	20.0000	0.0000	0.0000	62.0045		
34.825891971588135	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.87415361404419	-1.4062	-0.2729	61.8796	0.5258	-0.7908	-1.3122	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.91507911682129	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.97555637359619	-1.4064	-0.3066	61.6954	0.6602	-0.3580	0.3971	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.12433695793152	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.15604496002197	-1.4083	-0.2913	61.8871	1.6458	-0.6158	0.7937	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.20466613769531	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.289270639419556	-1.3978	-0.2670	61.8355	0.8207	-0.5866	-1.1649	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.407286643981934	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.43808579444885	-1.4002	-0.2728	61.6454	-0.5034	-0.4318	0.5215	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.4806547164917	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.51337003707886	-1.3813	-0.2669	61.8781	-0.4972	0.7514	0.7750	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.60906648635864	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.71899724006653	-1.4034	-0.2639	61.8136	-0.7541	0.4162	-1.6179	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.76871633529663	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.809781551361084	-1.4148	-0.2456	61.5994	-0.9934	0.9665	-1.7267	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
35.87537360191345	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.016335010528564	-1.4299	-0.2384	61.4955	-1.4406	-0.0787	0.9542	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.06238031387329	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.0955491065979	-1.4302	-0.2108	61.5837	-0.2766	0.1639	0.4341	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.19875121116638	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.279135942459106	-1.4320	-0.1848	61.5231	0.1750	-0.7862	-0.3282	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.36575269699097	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.40034365653992	-1.4472	-0.1881	61.5448	-0.0177	-0.1976	1.6628	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
36.4340033531189	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.5635027885437	-1.4852	-0.2151	61.8077	0.2870	-0.2166	1.7121	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.63256335258484	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.6878776550293	-1.4981	-0.2251	61.7700	-0.6822	0.6154	-2.1449	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
36.719969749450684	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.82556438446045	-1.4886	-0.2237	61.3287	-0.6753	0.3520	-2.3608	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.921175956726074	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.95964765548706	-1.4948	-0.1906	60.9583	0.8477	-0.1218	-3.8709	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.99032211303711	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.022653341293335	-1.5020	-0.1914	60.4193	-0.1724	0.5613	-3.6333	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.1284396648407	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.23057961463928	-1.4898	-0.2018	59.9728	1.6794	-1.4899	-2.6983	0.0000	0.0000	-0.0000	0.0000	0.0000	59.9050		
37.27292490005493	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.30650091171265	-1.4976	-0.1954	59.6702	-1.2947	1.4668	-2.4134	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.36494326591492	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.49704933166504	-1.5035	-0.2020	59.5577	1.1682	-1.8234	0.7648	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
37.539825201034546	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.57277822494507	-1.5052	-0.1982	59.5033	0.7524	-1.4326	-2.1428	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.606592655181885	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.71545219421387	-1.5016	-0.1776	58.9757	-2.1713	-0.6053	-2.4094	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.830217123031616	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.88314890861511	-1.5065	-0.1735	58.5270	0.4074	-1.2912	-1.6953	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.92185854911804	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.01375889778137	-1.5050	-0.1850	58.5980	1.5977	0.7556	2.0317	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
38.1313853263855	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.17350172996521	-1.5006	-0.1726	58.9801	-1.5584	1.2900	3.5574	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.21150588989258	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.319581747055054	-1.5043	-0.1709	59.2912	-0.9431	0.0471	0.2166	0.0000	0.0000	20.0000	0.0000	0.0000	59.2845		
38.43028116226196	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.468801498413086	-1.5076	-0.1736	59.0949	-0.0728	-0.6087	-1.1759	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.50258731842041	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.60497426986694	-1.4999	-0.1365	59.0009	0.0444	-0.5382	0.4791	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.718860387802124	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.759918451309204	-1.4844	-0.1298	58.9720	-1.8958	-0.2351	0.0822	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.80431652069092	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
38.8528733253479	-1.5009	-0.1488	59.0597	0.9733	-1.1946	-1.0450	0.0000	0.0000	20.0000	0.0000	0.0000	59.0270		
38.99131202697754	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.05307126045227	-1.5044	-0.1594	58.9833	0.7521	-0.2741	0.8145	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.10364246368408	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.1375617980957	-1.5104	-0.1559	59.0867	0.0998	0.2211	-0.2360	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
39.24572539329529	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.32732367515564	-1.5097	-0.1587	58.7838	0.9097	-0.0693	-1.8224	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.37392830848694	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.403892278671265	-1.5061	-0.1723	58.7639	-0.4543	1.1970	1.9758	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.48497772216797	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.60313653945923	-1.5159	-0.1598	58.8766	-0.0125	0.6669	-0.7398	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.64233350753784	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.689422369003296	-1.5275	-0.1459	58.8151	0.2978	-0.1461	-0.3805	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
39.766157388687134	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.87319231033325	-1.5367	-0.1547	58.7132	-2.1291	0.0789	-0.2648	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
39.96952724456787	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.0179967880249	-1.5122	-0.1572	58.8278	0.6010	0.1122	1.8848	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
40.05531096458435	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.15943098068237	-1.5085	-0.1582	58.9750	1.1564	1.2607	-2.1308	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.237109661102295	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.28504204750061	-1.5064	-0.1521	58.6950	-1.4726	0.1110	-1.7222	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.32089710235596	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.39008188247681	-1.5117	-0.1271	58.5442	0.2227	-0.9714	0.7409	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.473138093948364	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.52995014190674	-1.5112	-0.1412	58.6152	0.2156	-0.5276	-0.2101	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.570046186447144	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.614649057388306	-1.4903	-0.1545	58.7936	-1.5172	2.1488	2.1204	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.696017026901245	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.82864260673523	-1.4915	-0.1715	58.9692	0.5788	0.6913	0.3151	0.0000	0.0000	20.0000	0.0000	0.0000	58.9815		
40.872392892837524	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.90616273880005	-1.4972	-0.1627	58.9265	0.7901	0.2220	-0.7202	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
40.95524978637695	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.077526569366455	-1.5099	-0.2029	59.0521	-1.1485	0.3698	2.2257	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.14998650550842	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.18492555618286	-1.4969	-0.2201	59.6722	1.5865	-1.2837	6.3350	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.21585822105408	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.27800536155701	-1.5013	-0.2367	60.6403	-0.0927	-0.0097	6.9203	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.404627084732056	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.47764039039612	-1.5067	-0.2601	61.7626	-0.4174	-0.0804	7.1645	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.5416259765625	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.72688412666321	-1.5041	-0.2805	62.4283	0.9527	-0.6133	0.2868	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.78597021102905	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.83017134666443	-1.5076	-0.2741	62.1675	-0.3311	-0.5069	-1.5656	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
41.91555404663086	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.02836513519287	-1.5119	-0.2696	62.1497	-0.9300	-0.3614	1.5895	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.07406711578369	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.109780073165894	-1.5092	-0.2771	62.1435	0.2532	-0.0044	-1.9364	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.15408706665039	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.29846978187561	-1.5115	-0.2866	61.9820	-0.1074	-0.2471	0.7372	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.372913122177124	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.402700424194336	-1.5116	-0.2910	62.1954	0.8473	0.5769	1.0544	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.473893880844116	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.602184534072876	-1.4966	-0.2782	62.1241	-0.5708	0.8116	-0.9873	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.65377354621887	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.709166526794434	-1.4968	-0.2827	62.0658	0.5932	0.8898	1.3522	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.78935360908508	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.895975828170776	-1.4715	-0.2949	62.2042	0.4747	-1.0657	0.5389	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.948814868927	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
42.98881006240845	-1.4766	-0.2968	62.1730	-0.2855	-0.5245	-1.3651	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.022191286087036	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.16447687149048	-1.4516	-0.2861	62.1674	-1.3758	0.8791	1.9378	0.0000	0.0000	-0.0000	0.0000	0.0000	62.2245		
43.236759424209595	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.28739953041077	-1.4326	-0.2794	62.2873	-0.3627	0.9613	0.4194	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.32233428955078	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.44497489929199	-1.4314	-0.2618	62.2964	1.4512	-0.6133	0.0952	0.0000	0.0000	-0.0000	0.0000	0.0000	62.3067		
43.53376054763794	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.57342028617859	-1.4340	-0.2361	62.2512	-1.2354	-0.3270	-0.3276	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.608400106430054	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.666579246520996	-1.4266	-0.2314	62.0197	1.3742	-0.4628	-3.4331	0.0000	0.0000	20.0000	0.0000	0.0000	61.9101		
43.76525688171387	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.83069086074829	-1.4459	-0.2071	61.4904	-0.1374	0.6738	-2.6751	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.87342882156372	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
43.90843987464905	-1.4452	-0.2000	61.3484	0.0160	1.4800	0.7046	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.017961263656616	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.125779151916504	-1.4296	-0.2237	61.4496	1.7273	-0.3507	-0.3817	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.158188343048096	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.193500995635986	-1.4045	-0.2268	61.2921	0.0349	-0.5915	-0.7370	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.23207497596741	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.340001821517944	-1.4132	-0.2001	61.2224	0.3069	-0.4145	0.9907	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.4610493183136	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.49606537818909	-1.4097	-0.1853	61.2864	-0.4883	-0.4877	0.3825	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.53709602355957	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.62659454345703	-1.4109	-0.1956	61.1353	-0.1040	0.4397	-1.9154	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.72571063041687	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.78083348274231	-1.4030	-0.2033	60.8419	-0.3548	0.2326	-0.5169	0.0000	0.0000	20.0000	0.0000	0.0000	60.8210		
44.81383514404297	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
44.94857454299927	-1.4019	-0.2093	60.9721	-2.0612	1.2691	1.0769	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.0326087474823	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.07251167297363	-1.4084	-0.2195	60.9098	0.3460	0.1518	0.5185	0.0000	0.0000	20.0000	0.0000	0.0000	60.9430		
45.10776901245117	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.27380919456482	-1.4155	-0.2221	61.1829	0.9056	-0.4272	1.2251	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.331702709198	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.372859954833984	-1.3995	-0.1959	61.1267	-1.7012	0.3330	-1.1864	0.0000	0.0000	20.0000	0.0000	0.0000	61.0718		
45.40827655792236	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.529443979263306	-1.4377	-0.1999	61.0213	-1.9549	0.1736	1.3500	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.63390278816223	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.67476963996887	-1.4656	-0.2225	61.1964	0.4967	-0.4737	-0.0392	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.7047483921051	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.83929657936096	-1.4554	-0.2148	61.1203	0.2332	0.0963	-0.7631	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.934250593185425	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
45.988688230514526	-1.4579	-0.1995	61.1955	-1.4143	1.4400	2.9579	0.0000	0.0000	20.0000	0.0000	0.0000	61.2750		
46.03067350387573	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.159876346588135	-1.4531	-0.1856	61.2423	-1.0081	0.2363	-1.0593	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.253092527389526	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.301162004470825	-1.4435	-0.1745	61.1791	0.4273	1.0094	0.3843	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.35458588600159	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.443329095840454	-1.4324	-0.1650	61.1147	0.4335	-0.0292	-2.0245	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.55027985572815	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.59607458114624	-1.4582	-0.1464	60.9889	-1.1583	0.2036	1.0786	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.63553047180176	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.68719124794006	-1.4574	-0.1374	61.1815	-0.0449	0.1699	0.9897	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.77875852584839	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.85679078102112	-1.4807	-0.1558	61.1904	-0.1741	0.8222	-0.5439	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
46.89457893371582	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.02817702293396	-1.4779	-0.1571	61.0764	0.4363	0.0634	-1.1176	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.140679359436035	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.203421115875244	-1.4593	-0.1500	61.0215	-0.6533	-0.5529	-0.6210	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.24000930786133	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.337390661239624	-1.4412	-0.1691	61.0570	-0.9825	0.8905	3.2053	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.43186402320862	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.48199415206909	-1.4397	-0.1990	61.4647	-0.4268	0.2474	2.1834	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.51740789413452	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.61157298088074	-1.4343	-0.1989	61.5705	0.9230	-0.5655	-0.9415	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.72154116630554	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.771987438201904	-1.4592	-0.2023	61.5613	1.0407	-0.7852	1.5035	0.0000	0.0000	20.0000	0.0000	0.0000	61.6195		
47.81710338592529	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
47.99970865249634	-1.4633	-0.2042	61.7378	0.7713	-0.2769	-0.0215	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.05123281478882	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.09605383872986	-1.4403	-0.1862	61.5918	0.5881	-2.3583	-1.5826	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.1294310092926	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.205061197280884	-1.4339	-0.2209	61.5527	1.7916	0.9085	0.7894	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.31633448600769	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.350605487823486	-1.4416	-0.2138	61.7765	-0.3920	-0.5627	1.8840	0.0000	0.0000	-0.0000	0.0000	0.0000	61.8489		
48.39081263542175	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.60144925117493	-1.4342	-0.2312	62.1230	-0.9642	1.0340	2.8865	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.75825905799866	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.86624097824097	-1.4617	-0.2206	62.2206	-0.6798	0.3556	-1.8748	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
48.96479392051697	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
49.05446648597717	-1.4652	-0.2174	61.9378	0.0499	-1.2667	-0.6930	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
49.15746521949768	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
49.2373149394989	-1.4552	-0.2183	62.0626	-0.8008	0.3576	3.1220	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.332956075668335	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.46315813064575	-1.4647	-0.2205	62.1580	0.3234	-0.7105	-2.8447	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.55779790878296	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.653178691864014	-1.4508	-0.2149	61.7325	0.4325	0.4651	-1.1171	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.728434324264526	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.760266065597534	-1.4604	-0.2315	61.8248	-0.8668	0.3399	2.6256	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.79772233963013	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.83543300628662	-1.4681	-0.2407	62.0252	0.7898	0.3566	-1.9920	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.876788854599	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
49.92477297782898	-1.4635	-0.2109	61.4942	-0.0505	-0.3991	-3.0869	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
120.16322636604309	nan	nan	nan	0.4059	-0.8368	17.5099	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.16322636604309	-0.0766	-1.3870	132.8733	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.33271789550781	nan	nan	nan	0.4811	-0.7942	17.4471	0.0000	0.0000	20.0000	0.0000	0.0000	135.7354		
120.33271789550781	-0.0058	-1.3776	135.5186	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.67540574073792	0.0701	-1.3995	138.3419	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.7136025428772	nan	nan	nan	0.5569	-1.4112	19.5359	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.75518441200256	0.1711	-1.4039	141.3323	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.83017587661743	nan	nan	nan	0.5234	-1.1551	20.8284	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.91885709762573	0.2421	-1.3800	144.5570	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.9530348777771	nan	nan	nan	0.1276	0.4331	21.3622	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
120.98896050453186	0.3252	-1.3628	147.7490	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	148.0220		
121.02366352081299	nan	nan	nan	-0.9495	0.2748	23.7958	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.12679624557495	0.3967	-1.3736	151.3416	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.23465657234192	nan	nan	nan	-0.1282	-2.4264	23.0764	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.29551291465759	0.4841	-1.3563	154.6715	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.3327853679657	nan	nan	nan	-0.2582	-0.9155	22.3494	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.42166447639465	0.5817	-1.3431	157.9370	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.52945041656494	nan	nan	nan	-0.3786	-0.0087	21.8100	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.58631134033203	0.6578	-1.3224	161.1151	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
121.61758923530579	nan	nan	nan	0.7142	-0.3230	21.3729	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.66997218132019	0.7200	-1.2860	164.4994	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.82007384300232	nan	nan	nan	0.6178	-0.0888	22.6581	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
121.85261988639832	0.7889	-1.2996	167.9152	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	168.1949		
121.8864996433258	nan	nan	nan	1.1552	0.0572	22.7695	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
122.07697916030884	0.8857	-1.2464	171.4444	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
122.46946477890015	nan	nan	nan	-1.6008	0.9079	21.9222	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
122.83259654045105	0.9583	-1.2062	174.6189	-0.5970	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
122.83259654045105	nan	nan	nan	nan	0.1316	20.8131	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
123.78764820098877	1.0362	-1.1480	177.8307	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
123.81943035125732	nan	nan	nan	-0.6354	0.5393	21.0117	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
123.85394644737244	nan	nan	nan	-0.9668	0.9187	16.6581	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
123.85394644737244	1.1048	-1.1040	-178.9656	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
123.93056797981262	1.1286	-1.0800	-176.9595	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
123.96508741378784	nan	nan	nan	0.0199	-1.1485	7.9146	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.00630450248718	1.1279	-1.0762	-175.9288	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.0771689414978	nan	nan	nan	1.6992	-0.6218	5.2870	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.20911812782288	1.1434	-1.0495	-175.1335	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.2492847442627	nan	nan	nan	0.2401	-0.7407	5.7211	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.28724575042725	1.1651	-1.0189	-174.3698	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.3193519115448	nan	nan	nan	-0.7896	-0.2066	3.0216	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.43139791488647	1.1822	-1.0195	-173.8973	-0.3523	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.43139791488647	nan	nan	nan	nan	-1.3229	2.9324	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.58607029914856	1.1898	-0.9980	-173.3997	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.61884665489197	nan	nan	nan	1.8557	0.1914	2.5183	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.72386693954468	nan	nan	nan	1.0397	-0.3263	2.3984	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.8307032585144	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.87483477592468	nan	nan	nan	0.1849	0.3641	1.4186	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
124.92628598213196	-0.0202	1.6482	-40.2882	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
142.85506772994995	nan	nan	nan	0.0112	0.6677	18.4850	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
143.03790974617004	-0.0901	1.6340	-37.5192	0.8344	nan	18.7291	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
142.91133975982666	nan	nan	nan	nan	-0.2544	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
142.91133975982666	-0.1903	1.6343	-34.6983	nan	nan	nan	0.0000	0.0000	20.0000	nan	0.0000	0.0000		
143.22711205482483	nan	nan	nan	-1.3887	1.3826	19.0561	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.43015146255493	nan	1.6307	nan	-1.6858	0.1634	14.9358	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.39123511314392	-0.2935	nan	-32.0976	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.22711205482483	-0.3478	1.6155	-29.8724	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.52530980110168	nan	1.5836	nan	0.3095	-0.0752	13.7260	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.5507698059082	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.6916275024414	-0.4079	nan	-27.6993	0.4602	0.4474	14.5005	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.77723860740662	-0.4523	1.5547	-25.7082	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
143.81125926971436	nan	nan	nan	0.2259	0.1672	10.9062	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
143.87783789634705	-0.5003	1.5369	-23.9137	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.05672359466553	-0.5578	1.5076	nan	-0.9418	0.2115	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.06471920013428	nan	nan	-22.1055	nan	nan	12.2553	0.0000	0.0000	nan	0.0000	0.0000	0.0000		
144.02907609939575	nan	nan	nan	-0.1950	-1.1312	12.4043	0.0000	0.0000	20.0000	0.0000	0.0000	-21.4018		
144.15012288093567	-0.6002	1.4879	-20.3287	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.27669429779053	nan	nan	nan	1.8013	-0.8908	11.3037	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.15012288093567	-0.6394	1.4630	-18.5268	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.3772747516632	nan	nan	nan	-1.2570	-0.3233	14.8575	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.4120695590973	-0.6965	1.4442	-16.2249	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.4120695590973	nan	nan	nan	0.0771	0.6177	15.7905	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.67422199249268	-0.7403	1.4183	-13.7245	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.72163772583008	nan	nan	nan	-1.2501	0.7433	19.4806	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.7652449607849	-0.7829	1.3858	-10.7736	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.9293496608734	-0.8527	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
144.85976386070251	nan	1.3273	-7.7860	-0.3647	0.0192	19.3970	0.0000	nan	20.0000	0.0000	0.0000	0.0000		
144.85976386070251	nan	nan	nan	2.4188	0.5715	20.5963	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
145.01165461540222	-0.9144	1.2828	-4.6582	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.18829727172852	nan	nan	nan	-0.6179	-0.0963	19.5650	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.257337808609	-0.9628	1.2263	-1.7453	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.257337808609	nan	nan	nan	0.5188	0.6108	19.1271	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.29628038406372	-1.0255	1.1826	1.2057	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.49379086494446	-1.0701	1.1268	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.49379086494446	nan	nan	3.7315	-0.4544	0.6600	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.54125142097473	nan	nan	nan	-0.6583	-1.4477	14.6497	nan	0.0000	20.0000	0.0000	0.0000	0.0000		
145.6369593143463	-1.1009	1.0819	5.9758	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.6369593143463	nan	nan	nan	-0.1269	0.2356	15.8373	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.83013796806335	-1.1599	1.0304	8.2906	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.83013796806335	nan	nan	nan	-0.8120	0.0163	15.7462	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
145.90351033210754	-1.1929	0.9871	10.5160	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
145.90351033210754	nan	nan	nan	0.0622	2.7349	12.8601	0.0000	0.0000	nan	0.0000	0.0000	0.0000		
146.1059548854828	-1.2303	0.9583	12.3027	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.29557013511658	-1.2562	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.22682428359985	nan	nan	nan	-0.0523	0.6138	9.3617	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.40305590629578	nan	0.9302	13.4127	0.4234	1.4284	7.4673	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.4756109714508	-1.2647	0.9334	14.5468	1.3190	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
146.4756109714508	nan	nan	nan	nan	-1.7077	6.6721	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.57112789154053	-1.2785	0.8988	15.5175	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.8251805305481	nan	nan	nan	-0.7296	-0.5325	7.4392	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
146.62599635124207	-1.3137	0.8478	16.6150	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
148.03817796707153	-1.3245	0.8314	17.7914	nan	-0.4690	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
148.01808500289917	nan	nan	nan	1.1677	-0.7708	8.6613	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
148.00774097442627	nan	nan	nan	nan	nan	nan	0.0000	0.0000	nan	0.0000	0.0000	0.0000		
148.34478402137756	nan	nan	nan	0.4983	-0.6297	8.2070	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.28817987442017	-1.3173	0.8050	19.2138	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.28817987442017	-1.3338	0.8077	19.6433	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
148.56054973602295	nan	nan	nan	-0.5208	0.2581	-3.5457	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.56054973602295	-1.3121	0.8210	19.3173	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.60185861587524	nan	nan	nan	0.0090	0.2036	1.4446	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.95274233818054	nan	nan	19.4255	1.0048	0.2636	-1.5124	0.0000	nan	0.0000	0.0000	0.0000	0.0000		
148.88455820083618	-1.3282	0.8146	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
148.88455820083618	nan	nan	nan	nan	nan	-0.9615	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
149.23724150657654	nan	nan	nan	-0.0429	1.3245	nan	0.0000	0.0000	0.0000	nan	0.0000	0.0000		
149.17884039878845	-1.2882	0.8418	19.0647	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000		
149.48954796791077	nan	nan	nan	-0.7623	0.7151	1.1019	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
149.57899379730225	-1.3150	0.8166	19.1993	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
149.57899379730225	nan	nan	nan	0.2495	-0.3789	1.4310	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
149.73394060134888	-1.3179	0.8015	19.5634	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	19.3962		
149.80372047424316	nan	nan	nan	-0.6218	-0.0623	6.2458	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
149.7920081615448	-1.3290	0.7577	20.7602	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
149.98018884658813	nan	nan	nan	-0.8076	0.1854	9.6449	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.0756196975708	-1.3523	0.7054	22.1318	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.16134548187256	nan	nan	nan	nan	-0.3778	11.7323	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.0756196975708	-1.3613	nan	24.0066	-0.5820	nan	nan	0.0000	0.0000	20.0000	0.0000	nan	0.0000		
150.33939409255981	nan	0.6583	nan	-0.0194	-0.9068	13.8969	0.0000	0.0000	20.0000	0.0000	0.0000	24.7359		
150.4174520969391	-1.3737	nan	26.0211	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.44534468650818	nan	0.6169	nan	1.6550	-0.5124	13.8141	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.4174520969391	-1.3957	0.5691	28.2661	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.64752054214478	nan	nan	nan	0.6402	-1.6381	15.0390	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
150.6856188774109	-1.3971	0.5108	30.5800	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
150.64752054214478	nan	nan	nan	1.7258	0.2369	14.9556	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.02458238601685	-1.4181	0.4703	32.8057	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.18997073173523	nan	nan	nan	-1.5141	-0.3872	nan	0.0000	0.0000	20.0000	0.0000	0.0000	34.3378		
151.27491092681885	-1.4332	0.3803	34.9644	nan	nan	15.1198	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.38059210777283	nan	nan	nan	-0.2874	0.2611	14.6260	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.7254638671875	-1.4538	0.3329	37.4190	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.7254638671875	nan	nan	nan	-0.6478	-0.8465	17.7855	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.86403822898865	-1.4572	0.2742	40.0781	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.996435880661	-1.4661	0.1938	42.7760	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.9036295413971	nan	nan	nan	nan	-0.6842	17.3275	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
151.91196990013123	nan	nan	nan	1.7542	-0.8876	16.7278	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
152.16356801986694	-1.4730	0.1179	45.2265	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.20481181144714	nan	nan	nan	-1.7231	0.3262	14.6390	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.29773712158203	-1.4769	0.0542	47.1292	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.43592071533203	nan	nan	nan	0.0258	0.3721	10.2399	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.49022912979126	-1.4996	0.0151	48.5262	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.58234667778015	nan	nan	nan	0.5101	-0.1725	8.7079	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.747154712677	nan	nan	nan	nan	nan	9.6204	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.70555305480957	nan	nan	nan	1.1066	1.0684	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.72905564308167	-1.4761	-0.0381	51.2507	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	nan	nan		
152.8675181865692	nan	nan	nan	0.7426	-0.7072	9.4194	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
152.96444010734558	-1.4813	-0.0621	52.6952	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.0345175266266	nan	nan	nan	-0.4511	0.6489	11.5799	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.0345175266266	-1.4819	-0.1297	54.4709	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.13787865638733	-1.4601	-0.1875	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.13787865638733	nan	nan	nan	-1.4180	0.8335	12.8419	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.3230586051941	nan	nan	56.3425	-0.1269	-1.0839	13.5190	0.0000	nan	20.0000	0.0000	0.0000	0.0000		
153.4167582988739	-1.4595	-0.2462	58.2923	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	nan	57.7200		
153.42796874046326	nan	nan	nan	-1.4954	-1.3815	13.0260	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.5363790988922	-1.4535	-0.2921	60.2207	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.7219593524933	nan	nan	nan	nan	nan	13.8166	0.0000	0.0000	-0.0000	0.0000	0.0000	61.7002		
154.81461429595947	-1.4631	-0.3668	62.2685	0.8132	-0.7107	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
153.7019853591919	nan	nan	nan	1.2429	-1.1037	11.4628	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
154.89073157310486	-1.4386	-0.3886	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
154.97820925712585	nan	nan	nan	-0.9346	0.4241	11.5972	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
154.92170977592468	nan	nan	64.0244	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.21000289916992	-1.4215	-0.4689	67.0708	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.2229380607605	nan	nan	nan	-0.4838	0.2025	10.4032	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.21000289916992	-1.3926	-0.4925	68.5663	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.46099281311035	nan	nan	nan	-0.3072	0.1161	9.1974	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.53571128845215	-1.3814	-0.5089	69.9124	-0.8364	0.4249	8.8663	0.0000	0.0000	20.0000	nan	nan	nan		
155.5098705291748	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.72604894638062	-1.3443	-0.5419	71.2756	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.80835962295532	nan	nan	nan	0.1908	0.1091	8.4781	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
155.8436017036438	-1.3072	-0.5837	72.5861	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
155.9434471130371	nan	nan	nan	-0.8179	0.4733	10.8404	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.0278902053833	nan	-0.6129	74.1203	-0.2162	0.1700	9.5715	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.0278902053833	-1.2983	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.24088048934937	-1.2662	-0.6670	76.6910	-0.3992	1.0191	nan	0.0000	0.0000	20.0000	nan	nan	nan		
156.2926323413849	nan	nan	nan	1.8064	-1.9138	8.6933	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.24088048934937	nan	nan	75.4572	nan	nan	6.5663	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.49537801742554	-1.2568	-0.6972	77.8993	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.63021540641785	nan	nan	nan	0.6969	-0.2459	6.3387	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.76530933380127	-1.2572	-0.7310	79.0942	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.76530933380127	nan	nan	nan	0.7520	-0.8929	10.0517	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
156.96864533424377	-1.2358	-0.7625	80.7655	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.02838325500488	nan	nan	nan	0.1047	-0.4953	13.1816	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.22319650650024	nan	nan	nan	0.5804	-0.7393	13.6585	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.14171147346497	-1.1767	-0.8181	82.7192	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.01440596580505	nan	-0.8601	84.5372	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
157.29572296142578	-1.1180	-0.9131	87.4612	nan	nan	8.5321	0.0000	0.0000	0.0000	0.0000	nan	nan		
157.29572296142578	nan	nan	nan	-1.8076	-0.6943	nan	0.0000	0.0000	-0.0000	nan	0.0000	87.4669		
157.30323481559753	nan	nan	nan	nan	-0.5161	1.3420	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.5901165008545	-1.1175	-0.9463	88.0819	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.63318848609924	nan	nan	nan	1.3416	-1.8276	9.1417	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.78369188308716	-1.1157	-0.9739	89.6134	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.87715101242065	-1.0633	-1.0059	91.4641	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.90891361236572	nan	nan	nan	-1.3408	0.1540	14.2443	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
157.84257650375366	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
159.8674144744873	-0.9886	-1.1036	95.4833	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
159.77820777893066	-1.0248	-1.0377	93.5760	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	nan	0.0000		
159.82154965400696	nan	nan	nan	-1.2946	0.0715	13.2076	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
160.0363473892212	-0.9133	-1.1796	97.4827	nan	nan	nan	0.0000	0.0000	20.0000	nan	nan	0.0000		
160.18344616889954	nan	nan	99.2326	0.1274	-0.2096	14.0907	0.0000	0.0000	nan	0.0000	0.0000	0.0000		
160.0363473892212	nan	nan	nan	1.9635	-0.0962	10.2717	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
160.3731324672699	nan	-1.1920	100.7492	1.0659	0.5703	8.9463	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
160.32922387123108	-0.8612	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
160.32922387123108	-0.8365	-1.2071	101.5999	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	101.2474		
160.6457076072693	nan	nan	nan	0.4583	-0.5832	5.1057	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
162.67516112327576	-0.8074	-1.2006	102.5543	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
162.88970685005188	nan	nan	nan	-1.0793	-0.4274	9.2834	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.0105652809143	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.03780555725098	-0.7573	-1.1990	104.1195	nan	nan	11.7412	0.0000	0.0000	20.0000	0.0000	0.0000	nan		
163.13481736183167	nan	nan	nan	1.3169	-1.7261	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.31435322761536	-0.6256	-1.2891	109.4340	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.37240624427795	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.29144644737244	-0.5733	-1.3003	111.5545	-0.4731	-0.1044	10.8745	0.0000	nan	20.0000	nan	nan	nan		
163.56718921661377	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.70473718643188	-0.5116	-1.3091	114.0081	0.7566	0.5700	15.8371	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.56718921661377	nan	nan	nan	-0.2592	1.0470	15.1881	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.84452104568481	nan	nan	116.4324	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.88958072662354	-0.3860	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
163.88173532485962	-0.4417	-1.3334	118.6564	1.1370	-0.5362	13.5522	0.0000	0.0000	20.0000	0.0000	0.0000	nan		
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:37:15.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:37:15.txt
deleted file mode 100644
index f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:37:15.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:37:31.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:37:31.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:37:31.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:42:42.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:42:42.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:42:42.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:43:46.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:43:46.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:43:46.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:44:16.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:44:16.txt
deleted file mode 100644
index dc9ede2cd345cf92e1cca708384830dd49306949..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:44:16.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
22.88304829597473	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.082948684692383	-0.7230	0.7475	-72.9912	0.0470	-4.8246	447.3929	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.195348024368286	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.27141284942627	-0.5402	-0.8967	-6.3597	0.8430	-4.8814	454.1012	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.320815563201904	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.38567614555359	1.1305	-1.3545	62.9709	-0.4298	-4.6573	459.8453	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.435325860977173	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.472094297409058	2.1227	0.0035	131.5378	0.9860	-4.8858	469.7270	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
24.540640354156494	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
24.657464265823364	1.1252	1.4681	-156.3950	1.7219	-5.5226	478.7070	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
24.724665641784668	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
24.77306890487671	-0.5415	0.9894	-84.9470	0.2844	-5.2740	488.3620	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
24.806133270263672	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
24.920528411865234	-0.5848	-0.7944	-10.5936	0.9690	-5.5952	491.0899	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
25.01926898956299	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
25.09231448173523	1.0864	-1.3327	62.2530	0.5019	-5.2875	495.1587	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
25.150140285491943	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	125.7739		
25.280808448791504	2.0982	0.1363	137.5728	2.1442	-5.6927	489.6795	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.34203815460205	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
25.38372302055359	0.9918	1.5139	-149.4238	2.7472	-6.1004	493.4358	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.432938814163208	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.54341197013855	-0.6980	0.7861	-73.9370	0.6891	-4.5123	501.0615	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.602076530456543	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.65508246421814	-0.4336	-1.0153	0.4960	-0.4933	-5.6340	505.1718	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.692189693450928	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.80809736251831	1.4270	-1.2253	77.4688	2.2851	-5.8563	507.6045	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.901336193084717	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.95567798614502	2.0476	0.5168	153.0143	0.6995	-4.2541	514.5509	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
25.991957664489746	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-138.9547		
26.09310793876648	0.4604	1.5597	-128.7138	-0.3719	-6.2615	512.2080	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.181305408477783	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.2293221950531	-0.8891	0.1960	-50.2795	1.6669	-4.6217	519.7576	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.262064218521118	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	16.1864		
26.324347734451294	0.1444	-1.3648	26.5438	0.9007	-4.6071	518.1608	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.422478675842285	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.522315740585327	1.9226	-0.6631	105.5127	1.9299	-6.5749	521.3380	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.566752672195435	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.603948831558228	1.6033	1.1688	-177.3228	0.0219	-5.7368	521.3958	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.735539197921753	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.798027276992798	-0.2916	1.2365	-97.9332	2.2096	-6.8717	524.5576	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.860820770263672	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-30.6738		
26.897811889648438	-0.7264	-0.5664	-20.2535	0.2326	-6.0833	521.4578	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
26.968244791030884	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.107112646102905	0.9845	-1.3883	59.0918	1.2382	-4.9879	524.3201	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.16059184074402	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.193846940994263	2.1061	0.1127	136.8527	0.7451	-6.6039	526.9063	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.34856939315796	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.418408393859863	0.8279	1.5146	-142.8880	-0.4276	-5.2788	528.1343	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.48356866836548	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-75.0806		
27.533432483673096	-0.7630	0.5543	-64.5328	2.3098	-6.6099	526.4860	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.655742168426514	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.72005319595337	-0.1248	-1.1964	15.7047	2.1017	-5.0239	528.7252	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.776294946670532	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.862754821777344	1.6925	-0.8941	94.2810	0.3275	-6.0333	530.7369	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
27.954136848449707	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.02186346054077	1.7211	0.9805	175.3943	1.2248	-4.8740	538.1027	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.063507795333862	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.098543643951416	-0.0979	1.3345	-105.0908	2.0032	-6.7769	536.7115	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.238938331604004	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.355162620544434	-0.7617	-0.4488	-23.2581	0.6210	-6.3378	538.8702	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.42861270904541	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	45.6196		
28.515199899673462	0.8601	-1.3830	56.3305	2.2562	-6.0935	535.7700	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.596768379211426	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.638115644454956	2.0755	0.0914	138.2252	0.9536	-4.6855	544.6348	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.683520078659058	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.782122135162354	0.7948	1.4846	-140.8111	2.5861	-6.2969	549.4917	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.90358304977417	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
28.969870805740356	-0.8035	0.3905	-56.8761	2.1197	-6.4656	555.0709	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.010695934295654	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.090437412261963	0.0690	-1.2915	25.1702	2.4159	-6.0035	552.8427	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.209124326705933	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.258570432662964	1.8885	-0.6083	109.7094	1.0058	-6.5883	560.3339	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.29298758506775	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-178.1102		
29.433024168014526	1.4288	1.2385	-166.8183	-0.0575	-7.1311	561.8171	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.50525164604187	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.551979780197144	-0.5143	0.9407	-80.7495	-0.9663	-5.5665	571.3295	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.58415699005127	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.682678699493408	-0.3349	-1.0255	6.2214	1.8459	-5.5737	571.2345	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.788224935531616	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.840771913528442	1.5875	-0.9744	91.1098	2.6395	-6.5055	576.8399	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
29.880070447921753	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	165.3523		
29.937763214111328	1.6758	0.9882	179.2939	-0.2278	-5.4955	580.8953	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.092958688735962	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.130648851394653	-0.2739	1.1833	-94.2436	2.1321	-6.5810	589.8366	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.171053647994995	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
30.205869674682617	-0.5319	-0.8205	-4.2755	0.4063	-5.8437	590.8964	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.310276746749878	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.397597312927246	1.4411	-1.1514	83.5451	1.1902	-6.7060	597.6404	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.43857741355896	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.485557794570923	1.7982	0.9054	174.8488	3.6731	-7.4471	605.8679	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.593180894851685	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.690786361694336	-0.2652	1.2308	-95.0949	2.1212	-7.1300	612.5626	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.74488925933838	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	-16.5368		
30.779178619384766	-0.5358	-0.8821	-1.8838	0.2854	-5.7479	608.7946	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.881392002105713	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
30.99159812927246	1.5371	-1.0926	88.3662	1.1822	-6.2209	611.3107	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.081578016281128	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	166.7079		
31.12334132194519	1.7015	1.0191	-178.6081	-0.8402	-7.1774	612.1251	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.284037351608276	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.33934450149536	-0.3889	1.1101	-88.1543	2.3298	-6.4480	611.9724	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.380503177642822	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.515464305877686	-0.4182	-0.9793	4.6896	2.6423	-6.5307	606.8984	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.59886932373047	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.64463448524475	1.6150	-0.9494	94.4614	0.0675	-6.6569	605.9788	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.708426237106323	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.840047121047974	1.5723	1.1000	-173.4327	3.2050	-6.8314	604.8900	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.905859231948853	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.945955514907837	-0.4566	0.9955	-84.0355	1.4283	-6.2048	603.8425	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
31.978904485702515	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-7.0104		
32.08065128326416	-0.3148	-1.0243	7.2575	1.6554	-6.2731	589.9969	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.20344829559326	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.24067831039429	1.6306	-0.9410	94.6668	1.8668	-7.1317	592.1822	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.27721166610718	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
32.31208848953247	1.6031	1.0828	-175.1017	3.2080	-7.5940	592.3246	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.46493649482727	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.524800062179565	-0.4098	1.0904	-87.1891	1.7072	-6.5688	597.1285	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.55953049659729	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
32.59707307815552	-0.4467	-0.9728	3.4410	3.0463	-5.7207	591.4995	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.705941677093506	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.79364204406738	1.5654	-1.0206	91.2123	1.9513	-7.2754	593.5958	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.827109813690186	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.86135172843933	1.6815	1.0227	-178.1949	0.8406	-6.3016	597.8980	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
32.94154167175293	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.07742500305176	-0.3986	1.1188	-87.3452	1.5890	-6.4144	597.8693	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.123828649520874	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-11.1142		
33.159316062927246	-0.5304	-0.9205	0.6574	0.2266	-5.4969	586.9088	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.19516468048096	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.261565923690796	1.5522	-1.1168	89.6507	2.2464	-5.4603	584.1536	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.380804777145386	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
33.41639852523804	1.8306	0.9127	176.0638	1.8310	-6.8901	581.1669	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.46693015098572	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.5693244934082	-0.2265	1.2898	-95.7432	0.0692	-6.9149	578.5048	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.64932560920715	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.718647956848145	-0.7090	-0.6777	-10.5617	2.1149	-6.0583	569.4647	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.763365507125854	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.79875612258911	1.2407	-1.2714	75.9042	1.7083	-6.7456	568.1396	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
33.89971733093262	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	148.7702		
33.99906873703003	2.0005	0.5400	160.1241	-1.4038	-5.6685	568.3301	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.064000844955444	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.14102125167847	0.1886	1.4666	-113.4810	1.0031	-4.3164	568.6591	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.2575147151947	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.340139389038086	-0.8679	-0.1973	-29.6227	2.6381	-6.5708	562.0889	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.38261866569519	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.416762590408325	0.7179	-1.4389	55.5848	2.0328	-6.4214	559.4516	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.52286720275879	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
34.61641979217529	2.0961	-0.0285	138.3624	2.7893	-5.8618	559.6717	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.65248513221741	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.68810772895813	0.8128	1.5473	-136.5040	3.9946	-5.7343	559.9626	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.78182792663574	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-64.6945		
34.86893033981323	-0.8554	0.4277	-53.5567	-0.0776	-4.7251	556.0258	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.923402547836304	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
34.96661972999573	0.0298	-1.3629	30.5439	1.3504	-6.0052	550.8400	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.02245807647705	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.11024355888367	1.9250	-0.7435	112.1818	0.2647	-5.9142	550.3339	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.20119905471802	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.24870419502258	1.5181	1.2752	-163.8474	0.4925	-6.3604	554.9590	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.28429341316223	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.35685729980469	-0.4985	1.1104	-81.7157	2.0822	-6.5470	555.0820	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.47026705741882	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.5230975151062	-0.5547	-0.9337	2.3953	0.4864	-6.0480	550.1141	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.5933678150177	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.6742103099823	1.3991	-1.2533	83.6088	0.4407	-5.9611	547.7203	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.82873868942261	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
35.936617612838745	1.9991	0.6842	167.0004	2.5291	-5.1332	550.8577	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.045011043548584	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	-122.4066		
36.18494153022766	0.1804	1.5154	-111.4428	0.6456	-5.6183	547.1471	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.28921031951904	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.3848991394043	-0.9277	-0.1722	-28.2724	2.0171	-5.7081	544.0966	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.50366687774658	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	0.0000		
36.618650674819946	0.5732	-1.4979	52.0450	0.8534	-4.6134	540.7003	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.705904960632324	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.73781418800354	2.1250	-0.1983	134.5397	1.1405	-5.0374	545.2848	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.771809339523315	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.80359888076782	1.0155	1.5415	-141.9556	1.4142	-5.9057	550.0034	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
36.88614773750305	nan	nan	nan	nan	nan	nan	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.00149869918823	-0.8185	0.6639	-60.5392	0.5123	-6.2130	551.4398	0.0000	0.0000	20.0000	0.0000	0.0000	0.0000		
37.043235540390015	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.080559492111206	-0.1853	-1.2826	22.9668	1.7796	-5.4544	546.4620	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.11657953262329	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.23555612564087	1.7961	-0.9091	104.1777	2.4091	-6.1450	551.1772	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.30578947067261	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.344945669174194	1.6975	1.1566	-171.5072	1.4464	-6.4400	559.7771	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.38101649284363	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
37.46089005470276	-0.3773	1.2715	-88.4782	0.8559	-5.5216	562.2186	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:45:56.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:45:56.txt
deleted file mode 100644
index f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:45:56.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:46:55.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:46:55.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:46:55.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:57:17.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:57:17.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:57:17.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2024_02_05_20:58:17.txt b/cflib_groundstation/logs/cflie1_2024_02_05_20:58:17.txt
deleted file mode 100644
index 642ce05e7b8df15083b7c9dac21f4f8a802b6363..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_2024_02_05_20:58:17.txt
+++ /dev/null
@@ -1 +0,0 @@
-#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:34:33.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:34:33.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:34:33.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:38:17.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:38:17.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:38:17.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:44:27.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:44:27.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:44:27.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:47:06.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:47:06.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:47:06.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:57:28.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:57:28.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:57:28.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:58:28.txt b/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:58:28.txt
deleted file mode 100644
index 5f7bea63c0635523acfef0275f56a338abece558..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Log_toc_2024_02_05_20:58:28.txt
+++ /dev/null
@@ -1,506 +0,0 @@
-Log ID	Type	Group	Identifier Name	
-0	1	gyro	xRaw
-1	1	gyro	yRaw
-2	1	gyro	zRaw
-3	6	gyro	xVariance
-4	6	gyro	yVariance
-5	6	gyro	zVariance
-108	6	gyro	x
-109	6	gyro	y
-110	6	gyro	z
-6	10	pwm	m1_pwm
-7	10	pwm	m2_pwm
-8	10	pwm	m3_pwm
-9	10	pwm	m4_pwm
-10	9	crtp	rxRate
-11	9	crtp	txRate
-12	6	pm	vbat
-13	9	pm	vbatMV
-14	6	pm	extVbat
-15	9	pm	extVbatMV
-16	6	pm	extCurr
-17	6	pm	chargeCurrent
-18	0	pm	state
-19	8	pm	batteryLevel
-20	8	radio	rssi
-21	8	radio	isConnected
-22	0	sys	armed
-38	8	sys	canfly
-39	8	sys	isFlying
-40	8	sys	isTumbled
-23	9	extrx	ch0
-24	9	extrx	ch1
-25	9	extrx	ch2
-26	9	extrx	ch3
-27	9	extrx	thrust
-28	6	extrx	roll
-29	6	extrx	pitch
-30	6	extrx	yaw
-31	10	memTst	errCntW
-32	9	range	front
-33	9	range	back
-34	9	range	up
-35	9	range	left
-36	9	range	right
-37	9	range	zrange
-41	6	ext_pos	X
-42	6	ext_pos	Y
-43	6	ext_pos	Z
-44	6	locSrv	x
-45	6	locSrv	y
-46	6	locSrv	z
-47	6	locSrv	qx
-48	6	locSrv	qy
-49	6	locSrv	qz
-50	6	locSrv	qw
-51	9	locSrvZ	tick
-52	6	pid_attitude	roll_outP
-53	6	pid_attitude	roll_outI
-54	6	pid_attitude	roll_outD
-55	6	pid_attitude	pitch_outP
-56	6	pid_attitude	pitch_outI
-57	6	pid_attitude	pitch_outD
-58	6	pid_attitude	yaw_outP
-59	6	pid_attitude	yaw_outI
-60	6	pid_attitude	yaw_outD
-61	6	pid_rate	roll_outP
-62	6	pid_rate	roll_outI
-63	6	pid_rate	roll_outD
-64	6	pid_rate	pitch_outP
-65	6	pid_rate	pitch_outI
-66	6	pid_rate	pitch_outD
-67	6	pid_rate	yaw_outP
-68	6	pid_rate	yaw_outI
-69	6	pid_rate	yaw_outD
-70	6	sensfusion6	qw
-71	6	sensfusion6	qx
-72	6	sensfusion6	qy
-73	6	sensfusion6	qz
-74	6	sensfusion6	gravityX
-75	6	sensfusion6	gravityY
-76	6	sensfusion6	gravityZ
-77	6	sensfusion6	accZbase
-78	8	sensfusion6	isInit
-79	8	sensfusion6	isCalibrated
-80	6	acc	x
-81	6	acc	y
-82	6	acc	z
-83	6	baro	asl
-84	6	baro	temp
-85	6	baro	pressure
-86	1	controller	ctr_yaw
-213	6	controller	cmd_thrust
-214	6	controller	cmd_roll
-215	6	controller	cmd_pitch
-216	6	controller	cmd_yaw
-217	6	controller	r_roll
-218	6	controller	r_pitch
-219	6	controller	r_yaw
-220	6	controller	accelz
-221	6	controller	actuatorThrust
-222	6	controller	roll
-223	6	controller	pitch
-224	6	controller	yaw
-225	6	controller	rollRate
-226	6	controller	pitchRate
-227	6	controller	yawRate
-87	6	ctrltarget	x
-88	6	ctrltarget	y
-89	6	ctrltarget	z
-90	6	ctrltarget	vx
-91	6	ctrltarget	vy
-92	6	ctrltarget	vz
-93	6	ctrltarget	ax
-94	6	ctrltarget	ay
-95	6	ctrltarget	az
-96	6	ctrltarget	roll
-97	6	ctrltarget	pitch
-98	6	ctrltarget	yaw
-99	1	ctrltargetZ	x
-100	1	ctrltargetZ	y
-101	1	ctrltargetZ	z
-102	1	ctrltargetZ	vx
-103	1	ctrltargetZ	vy
-104	1	ctrltargetZ	vz
-105	1	ctrltargetZ	ax
-106	1	ctrltargetZ	ay
-107	1	ctrltargetZ	az
-111	6	mag	x
-112	6	mag	y
-113	6	mag	z
-114	6	stabilizer	roll
-115	6	stabilizer	pitch
-116	6	stabilizer	yaw
-117	6	stabilizer	thrust
-118	6	stabilizer	rtStab
-119	10	stabilizer	intToOut
-120	6	stateEstimate	x
-121	6	stateEstimate	y
-122	6	stateEstimate	z
-123	6	stateEstimate	vx
-124	6	stateEstimate	vy
-125	6	stateEstimate	vz
-126	6	stateEstimate	ax
-127	6	stateEstimate	ay
-128	6	stateEstimate	az
-129	6	stateEstimate	roll
-130	6	stateEstimate	pitch
-131	6	stateEstimate	yaw
-132	6	stateEstimate	qx
-133	6	stateEstimate	qy
-134	6	stateEstimate	qz
-135	6	stateEstimate	qw
-136	1	stateEstimateZ	x
-137	1	stateEstimateZ	y
-138	1	stateEstimateZ	z
-139	1	stateEstimateZ	vx
-140	1	stateEstimateZ	vy
-141	1	stateEstimateZ	vz
-142	1	stateEstimateZ	ax
-143	1	stateEstimateZ	ay
-144	1	stateEstimateZ	az
-145	10	stateEstimateZ	quat
-146	1	stateEstimateZ	rateRoll
-147	1	stateEstimateZ	ratePitch
-148	1	stateEstimateZ	rateYaw
-149	6	posEstAlt	estimatedZ
-150	6	posEstAlt	estVZ
-151	6	posEstAlt	velocityZ
-152	6	posCtl	targetVX
-153	6	posCtl	targetVY
-154	6	posCtl	targetVZ
-155	6	posCtl	targetX
-156	6	posCtl	targetY
-157	6	posCtl	targetZ
-158	6	posCtl	Xp
-159	6	posCtl	Xi
-160	6	posCtl	Xd
-161	6	posCtl	Yp
-162	6	posCtl	Yi
-163	6	posCtl	Yd
-164	6	posCtl	Zp
-165	6	posCtl	Zi
-166	6	posCtl	Zd
-167	6	posCtl	VXp
-168	6	posCtl	VXi
-169	6	posCtl	VXd
-170	6	posCtl	VZp
-171	6	posCtl	VZi
-172	6	posCtl	VZd
-173	6	posCtrlIndi	posRef_x
-174	6	posCtrlIndi	posRef_y
-175	6	posCtrlIndi	posRef_z
-176	6	posCtrlIndi	velS_x
-177	6	posCtrlIndi	velS_y
-178	6	posCtrlIndi	velS_z
-179	6	posCtrlIndi	velRef_x
-180	6	posCtrlIndi	velRef_y
-181	6	posCtrlIndi	velRef_z
-182	6	posCtrlIndi	angS_roll
-183	6	posCtrlIndi	angS_pitch
-184	6	posCtrlIndi	angS_yaw
-185	6	posCtrlIndi	angF_roll
-186	6	posCtrlIndi	angF_pitch
-187	6	posCtrlIndi	angF_yaw
-188	6	posCtrlIndi	accRef_x
-189	6	posCtrlIndi	accRef_y
-190	6	posCtrlIndi	accRef_z
-191	6	posCtrlIndi	accS_x
-192	6	posCtrlIndi	accS_y
-193	6	posCtrlIndi	accS_z
-194	6	posCtrlIndi	accF_x
-195	6	posCtrlIndi	accF_y
-196	6	posCtrlIndi	accF_z
-197	6	posCtrlIndi	accFT_x
-198	6	posCtrlIndi	accFT_y
-199	6	posCtrlIndi	accFT_z
-200	6	posCtrlIndi	accErr_x
-201	6	posCtrlIndi	accErr_y
-202	6	posCtrlIndi	accErr_z
-203	6	posCtrlIndi	phi_tilde
-204	6	posCtrlIndi	theta_tilde
-205	6	posCtrlIndi	T_tilde
-206	6	posCtrlIndi	T_inner
-207	6	posCtrlIndi	T_inner_f
-208	6	posCtrlIndi	T_incremented
-209	6	posCtrlIndi	cmd_phi
-210	6	posCtrlIndi	cmd_theta
-211	6	estimator	rtApnd
-212	6	estimator	rtRej
-228	6	ctrlMel	cmd_thrust
-229	6	ctrlMel	cmd_roll
-230	6	ctrlMel	cmd_pitch
-231	6	ctrlMel	cmd_yaw
-232	6	ctrlMel	r_roll
-233	6	ctrlMel	r_pitch
-234	6	ctrlMel	r_yaw
-235	6	ctrlMel	accelz
-236	6	ctrlMel	zdx
-237	6	ctrlMel	zdy
-238	6	ctrlMel	zdz
-239	6	ctrlMel	i_err_x
-240	6	ctrlMel	i_err_y
-241	6	ctrlMel	i_err_z
-242	6	ctrlINDI	cmd_thrust
-243	6	ctrlINDI	cmd_roll
-244	6	ctrlINDI	cmd_pitch
-245	6	ctrlINDI	cmd_yaw
-246	6	ctrlINDI	r_roll
-247	6	ctrlINDI	r_pitch
-248	6	ctrlINDI	r_yaw
-249	6	ctrlINDI	u_act_dyn_p
-250	6	ctrlINDI	u_act_dyn_q
-251	6	ctrlINDI	u_act_dyn_r
-252	6	ctrlINDI	du_p
-253	6	ctrlINDI	du_q
-254	6	ctrlINDI	du_r
-255	6	ctrlINDI	ang_accel_ref_p
-256	6	ctrlINDI	ang_accel_ref_q
-257	6	ctrlINDI	ang_accel_ref_r
-258	6	ctrlINDI	rate_d[0]
-259	6	ctrlINDI	rate_d[1]
-260	6	ctrlINDI	rate_d[2]
-261	6	ctrlINDI	uf_p
-262	6	ctrlINDI	uf_q
-263	6	ctrlINDI	uf_r
-264	6	ctrlINDI	Omega_f_p
-265	6	ctrlINDI	Omega_f_q
-266	6	ctrlINDI	Omega_f_r
-267	6	ctrlINDI	n_p
-268	6	ctrlINDI	n_q
-269	6	ctrlINDI	n_r
-270	6	s_pid_attitude	roll_outP
-271	6	s_pid_attitude	roll_outI
-272	6	s_pid_attitude	roll_outD
-273	6	s_pid_attitude	pitch_outP
-274	6	s_pid_attitude	pitch_outI
-275	6	s_pid_attitude	pitch_outD
-276	6	s_pid_attitude	yaw_outP
-277	6	s_pid_attitude	yaw_outI
-278	6	s_pid_attitude	yaw_outD
-279	6	s_pid_rate	roll_outP
-280	6	s_pid_rate	roll_outI
-281	6	s_pid_rate	roll_outD
-282	6	s_pid_rate	pitch_outP
-283	6	s_pid_rate	pitch_outI
-284	6	s_pid_rate	pitch_outD
-285	6	s_pid_rate	yaw_outP
-286	6	s_pid_rate	yaw_outI
-287	6	s_pid_rate	yaw_outD
-288	6	ctrlStdnt	cmd_thrust
-289	6	ctrlStdnt	cmd_roll
-290	6	ctrlStdnt	cmd_pitch
-291	6	ctrlStdnt	cmd_yaw
-292	6	ctrlStdnt	r_roll
-293	6	ctrlStdnt	r_pitch
-294	6	ctrlStdnt	r_yaw
-295	6	ctrlStdnt	accelz
-296	6	ctrlStdnt	thrustDesired
-297	6	ctrlStdnt	roll
-298	6	ctrlStdnt	pitch
-299	6	ctrlStdnt	yaw
-300	6	ctrlStdnt	rollRate
-301	6	ctrlStdnt	pitchRate
-302	6	ctrlStdnt	yawRate
-303	10	motor	m1
-304	10	motor	m2
-305	10	motor	m3
-306	10	motor	m4
-307	10	colAv	latency
-308	6	health	motorVarXM1
-309	6	health	motorVarYM1
-310	6	health	motorVarXM2
-311	6	health	motorVarYM2
-312	6	health	motorVarXM3
-313	6	health	motorVarYM3
-314	6	health	motorVarXM4
-315	6	health	motorVarYM4
-316	8	health	motorPass
-317	6	health	batterySag
-318	8	health	batteryPass
-319	9	health	motorTestCount
-320	8	kalman	inFlight
-321	6	kalman	stateX
-322	6	kalman	stateY
-323	6	kalman	stateZ
-324	6	kalman	statePX
-325	6	kalman	statePY
-326	6	kalman	statePZ
-327	6	kalman	stateD0
-328	6	kalman	stateD1
-329	6	kalman	stateD2
-330	6	kalman	varX
-331	6	kalman	varY
-332	6	kalman	varZ
-333	6	kalman	varPX
-334	6	kalman	varPY
-335	6	kalman	varPZ
-336	6	kalman	varD0
-337	6	kalman	varD1
-338	6	kalman	varD2
-339	6	kalman	q0
-340	6	kalman	q1
-341	6	kalman	q2
-342	6	kalman	q3
-343	6	kalman	rtUpdate
-344	6	kalman	rtPred
-345	6	kalman	rtFinal
-346	2	outlierf	lhWin
-427	2	outlierf	bucket0
-428	2	outlierf	bucket1
-429	2	outlierf	bucket2
-430	2	outlierf	bucket3
-431	2	outlierf	bucket4
-432	6	outlierf	accLev
-433	6	outlierf	errD
-347	6	kalman_pred	predNX
-348	6	kalman_pred	predNY
-349	6	kalman_pred	measNX
-350	6	kalman_pred	measNY
-351	6	ring	fadeTime
-352	2	gps	lat
-353	2	gps	lon
-354	6	gps	hMSL
-355	6	gps	hAcc
-356	2	gps	nsat
-357	2	gps	fix
-358	6	usd	spiWrBps
-359	6	usd	spiReBps
-360	6	usd	fatWrBps
-361	8	loco	mode
-362	6	loco	spiWr
-363	6	loco	spiRe
-364	9	ranging	state
-365	6	ranging	distance0
-366	6	ranging	distance1
-367	6	ranging	distance2
-368	6	ranging	distance3
-369	6	ranging	distance4
-370	6	ranging	distance5
-371	6	ranging	distance6
-372	6	ranging	distance7
-373	6	ranging	pressure0
-374	6	ranging	pressure1
-375	6	ranging	pressure2
-376	6	ranging	pressure3
-377	6	ranging	pressure4
-378	6	ranging	pressure5
-379	6	ranging	pressure6
-380	6	ranging	pressure7
-381	8	twr	rangingSuccessRate0
-382	8	twr	rangingPerSec0
-383	8	twr	rangingSuccessRate1
-384	8	twr	rangingPerSec1
-385	8	twr	rangingSuccessRate2
-386	8	twr	rangingPerSec2
-387	8	twr	rangingSuccessRate3
-388	8	twr	rangingPerSec3
-389	8	twr	rangingSuccessRate4
-390	8	twr	rangingPerSec4
-391	8	twr	rangingSuccessRate5
-392	8	twr	rangingPerSec5
-393	6	tdoa2	d7-0
-394	6	tdoa2	d0-1
-395	6	tdoa2	d1-2
-396	6	tdoa2	d2-3
-397	6	tdoa2	d3-4
-398	6	tdoa2	d4-5
-399	6	tdoa2	d5-6
-400	6	tdoa2	d6-7
-401	6	tdoa2	cc0
-402	6	tdoa2	cc1
-403	6	tdoa2	cc2
-404	6	tdoa2	cc3
-405	6	tdoa2	cc4
-406	6	tdoa2	cc5
-407	6	tdoa2	cc6
-408	6	tdoa2	cc7
-409	9	tdoa2	dist7-0
-410	9	tdoa2	dist0-1
-411	9	tdoa2	dist1-2
-412	9	tdoa2	dist2-3
-413	9	tdoa2	dist3-4
-414	9	tdoa2	dist4-5
-415	9	tdoa2	dist5-6
-416	9	tdoa2	dist6-7
-417	6	tdoaEngine	stRx
-418	6	tdoaEngine	stEst
-419	6	tdoaEngine	stTime
-420	6	tdoaEngine	stFound
-421	6	tdoaEngine	stCc
-422	6	tdoaEngine	stHit
-423	6	tdoaEngine	stMiss
-424	6	tdoaEngine	cc
-425	9	tdoaEngine	tof
-426	6	tdoaEngine	tdoa
-434	8	motion	motion
-435	1	motion	deltaX
-436	1	motion	deltaY
-437	9	motion	shutter
-438	8	motion	maxRaw
-439	8	motion	minRaw
-440	8	motion	Rawsum
-441	8	motion	outlierCount
-442	8	motion	squal
-443	6	motion	std
-444	9	oa	front
-445	9	oa	back
-446	9	oa	up
-447	9	oa	left
-448	9	oa	right
-449	8	activeMarker	btSns
-450	8	activeMarker	i2cOk
-451	8	aideck	receivebyte
-452	8	lighthouse	validAngles
-453	6	lighthouse	rawAngle0x
-454	6	lighthouse	rawAngle0y
-455	6	lighthouse	rawAngle1x
-456	6	lighthouse	rawAngle1y
-457	6	lighthouse	angle0x
-458	6	lighthouse	angle0y
-459	6	lighthouse	angle1x
-460	6	lighthouse	angle1y
-461	6	lighthouse	angle0x_1
-462	6	lighthouse	angle0y_1
-463	6	lighthouse	angle1x_1
-464	6	lighthouse	angle1y_1
-465	6	lighthouse	angle0x_2
-466	6	lighthouse	angle0y_2
-467	6	lighthouse	angle1x_2
-468	6	lighthouse	angle1y_2
-469	6	lighthouse	angle0x_3
-470	6	lighthouse	angle0y_3
-471	6	lighthouse	angle1x_3
-472	6	lighthouse	angle1y_3
-473	6	lighthouse	rawAngle0xlh2
-474	6	lighthouse	rawAngle0ylh2
-475	6	lighthouse	rawAngle1xlh2
-476	6	lighthouse	rawAngle1ylh2
-477	6	lighthouse	angle0x_0lh2
-478	6	lighthouse	angle0y_0lh2
-479	6	lighthouse	angle1x_0lh2
-480	6	lighthouse	angle1y_0lh2
-481	6	lighthouse	serRt
-482	6	lighthouse	frmRt
-483	6	lighthouse	cycleRt
-484	6	lighthouse	bs0Rt
-485	6	lighthouse	bs1Rt
-486	9	lighthouse	width0
-487	9	lighthouse	width1
-488	9	lighthouse	width2
-489	9	lighthouse	width3
-490	8	lighthouse	comSync
-491	9	lighthouse	bsReceive
-492	9	lighthouse	bsActive
-493	9	lighthouse	bsCalUd
-494	9	lighthouse	bsCalCon
-495	8	lighthouse	status
-496	6	lighthouse	posRt
-497	6	lighthouse	estBs0Rt
-498	6	lighthouse	estBs1Rt
-499	6	lighthouse	x
-500	6	lighthouse	y
-501	6	lighthouse	z
-502	6	lighthouse	delta
-503	9	lighthouse	bsGeoVal
-504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:34:33.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:34:33.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:34:33.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:38:14.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:38:14.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:38:14.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:43:17.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:43:17.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:43:17.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:44:27.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:44:27.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:44:27.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:47:06.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:47:06.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:47:06.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:57:28.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:57:28.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:57:28.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:58:28.txt b/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:58:28.txt
deleted file mode 100644
index 12008f581334686325e0320872355fee857b33ce..0000000000000000000000000000000000000000
--- a/cflib_groundstation/logs/cflie1_Param_toc_2024_02_05_20:58:28.txt
+++ /dev/null
@@ -1,247 +0,0 @@
-Param ID	Type	Group	Identifier Name	
-0	8	imu_sensors	AK8963
-1	8	imu_sensors	LPS25H
-5	8	imu_sensors	BMP388
-2	8	imu_tests	MPU6500
-3	8	imu_tests	AK8963
-4	8	imu_tests	LPS25H
-6	9	cpu	flash
-7	10	cpu	id0
-8	10	cpu	id1
-9	10	cpu	id2
-10	0	system	selftestPassed
-11	0	system	forceArm
-16	8	system	taskDump
-208	8	system	highlight
-12	9	crtpsrv	echoDelay
-13	8	sound	effect
-14	10	sound	neffect
-15	9	sound	freq
-17	8	memTst	resetW
-18	0	sys	e_stop
-19	8	commander	enHighLevel
-20	8	flightmode	althold
-21	8	flightmode	poshold
-22	8	flightmode	posSet
-23	8	flightmode	yawMode
-24	8	flightmode	stabModeRoll
-25	8	flightmode	stabModePitch
-26	8	flightmode	stabModeYaw
-27	6	cmdrCPPM	rateRoll
-28	6	cmdrCPPM	ratePitch
-29	6	cmdrCPPM	angPitch
-30	6	cmdrCPPM	angRoll
-31	6	cmdrCPPM	rateYaw
-32	8	locSrv	enRangeStreamFP32
-33	8	locSrv	enLhAngleStream
-34	6	locSrv	extPosStdDev
-35	6	locSrv	extQuatStdDev
-36	6	pid_attitude	roll_kp
-37	6	pid_attitude	roll_ki
-38	6	pid_attitude	roll_kd
-39	6	pid_attitude	pitch_kp
-40	6	pid_attitude	pitch_ki
-41	6	pid_attitude	pitch_kd
-42	6	pid_attitude	yaw_kp
-43	6	pid_attitude	yaw_ki
-44	6	pid_attitude	yaw_kd
-45	6	pid_rate	roll_kp
-46	6	pid_rate	roll_ki
-47	6	pid_rate	roll_kd
-48	6	pid_rate	pitch_kp
-49	6	pid_rate	pitch_ki
-50	6	pid_rate	pitch_kd
-51	6	pid_rate	yaw_kp
-52	6	pid_rate	yaw_ki
-53	6	pid_rate	yaw_kd
-54	6	sensfusion6	kp
-55	6	sensfusion6	ki
-56	6	sensfusion6	baseZacc
-57	8	stabilizer	estimator
-58	8	stabilizer	controller
-59	8	stabilizer	stop
-60	6	posEstAlt	estAlphaAsl
-61	6	posEstAlt	estAlphaZr
-62	6	posEstAlt	velFactor
-63	6	posEstAlt	velZAlpha
-64	6	posEstAlt	vAccDeadband
-65	6	posCtlPid	xKp
-66	6	posCtlPid	xKi
-67	6	posCtlPid	xKd
-68	6	posCtlPid	yKp
-69	6	posCtlPid	yKi
-70	6	posCtlPid	yKd
-71	6	posCtlPid	zKp
-72	6	posCtlPid	zKi
-73	6	posCtlPid	zKd
-74	9	posCtlPid	thrustBase
-75	9	posCtlPid	thrustMin
-76	6	posCtlPid	rpLimit
-77	6	posCtlPid	xyVelMax
-78	6	posCtlPid	zVelMax
-79	6	velCtlPid	vxKp
-80	6	velCtlPid	vxKi
-81	6	velCtlPid	vxKd
-82	6	velCtlPid	vyKp
-83	6	velCtlPid	vyKi
-84	6	velCtlPid	vyKd
-85	6	velCtlPid	vzKp
-86	6	velCtlPid	vzKi
-87	6	velCtlPid	vzKd
-88	6	posCtrlIndi	K_xi_x
-89	6	posCtrlIndi	K_xi_y
-90	6	posCtrlIndi	K_xi_z
-91	6	posCtrlIndi	K_dxi_x
-92	6	posCtrlIndi	K_dxi_y
-93	6	posCtrlIndi	K_dxi_z
-94	6	posCtrlIndi	pq_clamping
-95	8	controller	tiltComp
-96	6	ctrlMel	kp_xy
-97	6	ctrlMel	kd_xy
-98	6	ctrlMel	ki_xy
-99	6	ctrlMel	i_range_xy
-100	6	ctrlMel	kp_z
-101	6	ctrlMel	kd_z
-102	6	ctrlMel	ki_z
-103	6	ctrlMel	i_range_z
-104	6	ctrlMel	mass
-105	6	ctrlMel	massThrust
-106	6	ctrlMel	kR_xy
-107	6	ctrlMel	kR_z
-108	6	ctrlMel	kw_xy
-109	6	ctrlMel	kw_z
-110	6	ctrlMel	ki_m_xy
-111	6	ctrlMel	ki_m_z
-112	6	ctrlMel	kd_omega_rp
-113	6	ctrlMel	i_range_m_xy
-114	6	ctrlMel	i_range_m_z
-115	6	ctrlINDI	thrust_threshold
-116	6	ctrlINDI	bound_ctrl_input
-117	6	ctrlINDI	g1_p
-118	6	ctrlINDI	g1_q
-119	6	ctrlINDI	g1_r
-120	6	ctrlINDI	g2
-121	6	ctrlINDI	ref_err_p
-122	6	ctrlINDI	ref_err_q
-123	6	ctrlINDI	ref_err_r
-124	6	ctrlINDI	ref_rate_p
-125	6	ctrlINDI	ref_rate_q
-126	6	ctrlINDI	ref_rate_r
-127	6	ctrlINDI	act_dyn_p
-128	6	ctrlINDI	act_dyn_q
-129	6	ctrlINDI	act_dyn_r
-130	6	ctrlINDI	filt_cutoff
-131	6	ctrlINDI	filt_cutoff_r
-132	8	ctrlINDI	outerLoopActive
-133	6	s_pid_attitude	roll_kp
-134	6	s_pid_attitude	roll_ki
-135	6	s_pid_attitude	roll_kd
-136	6	s_pid_attitude	pitch_kp
-137	6	s_pid_attitude	pitch_ki
-138	6	s_pid_attitude	pitch_kd
-139	6	s_pid_attitude	yaw_kp
-140	6	s_pid_attitude	yaw_ki
-141	6	s_pid_attitude	yaw_kd
-142	6	s_pid_rate	roll_kp
-143	6	s_pid_rate	roll_ki
-144	6	s_pid_rate	roll_kd
-145	6	s_pid_rate	pitch_kp
-146	6	s_pid_rate	pitch_ki
-147	6	s_pid_rate	pitch_kd
-148	6	s_pid_rate	yaw_kp
-149	6	s_pid_rate	yaw_ki
-150	6	s_pid_rate	yaw_kd
-151	8	ctrlStdnt	tiltComp
-152	8	ctrlStdnt	TEST_PARAM
-153	8	motorPowerSet	enable
-154	9	motorPowerSet	m1
-155	9	motorPowerSet	m2
-156	9	motorPowerSet	m3
-157	9	motorPowerSet	m4
-158	10	powerDist	idleThrust
-159	8	colAv	enable
-160	6	colAv	ellipsoidX
-161	6	colAv	ellipsoidY
-162	6	colAv	ellipsoidZ
-163	6	colAv	bboxMinX
-164	6	colAv	bboxMinY
-165	6	colAv	bboxMinZ
-166	6	colAv	bboxMaxX
-167	6	colAv	bboxMaxY
-168	6	colAv	bboxMaxZ
-169	6	colAv	horizon
-170	6	colAv	maxSpeed
-171	6	colAv	sidestepThrsh
-172	2	colAv	maxPeerLocAge
-173	6	colAv	vorTol
-174	2	colAv	vorIters
-175	8	health	startPropTest
-176	8	health	startBatTest
-177	8	kalman	resetEstimation
-178	8	kalman	quadIsFlying
-179	8	kalman	robustTdoa
-180	8	kalman	robustTwr
-181	6	kalman	pNAcc_xy
-182	6	kalman	pNAcc_z
-183	6	kalman	pNVel
-184	6	kalman	pNPos
-185	6	kalman	pNAtt
-186	6	kalman	mNBaro
-187	6	kalman	mNGyro_rollpitch
-188	6	kalman	mNGyro_yaw
-189	6	kalman	initialX
-190	6	kalman	initialY
-191	6	kalman	initialZ
-192	6	kalman	initialYaw
-193	6	kalman	maxPos
-194	6	kalman	maxVel
-195	6	hlCommander	vtoff
-196	6	hlCommander	vland
-197	8	deck	bcLedRing
-209	8	deck	bcBuzzer
-210	8	deck	bcGTGPS
-211	8	deck	bcCPPM
-212	8	deck	bcUSD
-215	8	deck	bcZRanger
-216	8	deck	bcZRanger2
-217	8	deck	bcDWM1000
-222	8	deck	bcFlow
-223	8	deck	bcFlow2
-227	8	deck	bcOA
-228	8	deck	bcMultiranger
-229	8	deck	bcLighthouse4
-236	8	deck	bcActiveMarker
-237	8	deck	bcAIDeck
-198	8	ring	effect
-199	10	ring	neffect
-200	8	ring	solidRed
-201	8	ring	solidGreen
-202	8	ring	solidBlue
-203	8	ring	headlightEnable
-204	6	ring	emptyCharge
-205	6	ring	fullCharge
-206	10	ring	fadeColor
-207	6	ring	fadeTime
-213	8	usd	canLog
-214	8	usd	logging
-218	8	loco	mode
-219	8	tdoaEngine	logId
-220	8	tdoaEngine	logOthrId
-221	8	tdoaEngine	matchAlgo
-224	8	motion	disable
-225	8	motion	adaptive
-226	6	motion	flowStdFixed
-230	8	activeMarker	front
-231	8	activeMarker	back
-232	8	activeMarker	left
-233	8	activeMarker	right
-234	8	activeMarker	mode
-235	8	activeMarker	poll
-238	10	firmware	revision0
-239	9	firmware	revision1
-240	8	firmware	modified
-241	8	lighthouse	method
-242	8	lighthouse	bsCalibReset
-243	8	lighthouse	systemType
-244	6	lighthouse	sweepStd
-245	6	lighthouse	sweepStd2
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/.gitattributes b/crazyflie_software/crazyflie-firmware-lab-part-1/.gitattributes
new file mode 100644
index 0000000000000000000000000000000000000000..6313b56c57848efce05faa7aa7e901ccfc2886ea
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/.gitattributes
@@ -0,0 +1 @@
+* text=auto eol=lf
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/.github/workflows/CI.yml b/crazyflie_software/crazyflie-firmware-lab-part-1/.github/workflows/CI.yml
new file mode 100644
index 0000000000000000000000000000000000000000..1f9c3271ee640c62641f373f895246c18477653e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/.github/workflows/CI.yml
@@ -0,0 +1,119 @@
+# CI jobs
+
+name: CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the master branch
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  cf2:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 UNIT_TEST_STYLE=min
+
+    - name: Upload Build Artifact
+      uses: actions/upload-artifact@v2.1.4
+      with:
+        name: cf2-${{ github.sha }}
+        path: cf2.bin
+  
+  tag:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=tag UNIT_TEST_STYLE=min
+
+    - name: Upload Build Artifact
+      uses: actions/upload-artifact@v2.1.4
+      with:
+        name: tag-${{ github.sha }}
+        path: tag.bin
+  
+  all-flags:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: All features
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 DEBUG=1 "EXTRA_CFLAGS=-DCALIBRATED_LED_MORSE -DIMU_TAKE_ACCEL_BIAS -DIMU_MPU6500_DLPF_256HZ -DMADWICK_QUATERNION_IMU -DDEBUG_QUEUE_MONITOR -DENABLE_BQ_DECK -DSITAW_ENABLED -DOW_WRITE_TEST -DOW_READ_TEST -DDEBUG_PRINT_ON_UART -DENABLE_UART1 -DENABLE_UART2"  UNIT_TEST_STYLE=min    
+
+  features:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    strategy:
+      fail-fast: false
+      matrix:
+        features:
+        # Build cf2 with bosch sensors
+        - SENSORS=bosch
+        # Build cf2 with TDMA
+        - LPS_TDMA_ENABLE=1 "EXTRA_CFLAGS=-DTDMA_NSLOTS_BITS=1 -DTDMA_SLOT=0"
+        # Build cf2 with TDOA2 positioning mode
+        - LPS_TDOA_ENABLE=1
+        # Build cf2 with TDOA3 positioning mode
+        - LPS_TDOA3_ENABLE=1
+        # Build cf2 with TDOA3 and all config options
+        - LPS_TDOA3_ENABLE=1 "EXTRA_CFLAGS=-DLPS_2D_POSITION_HEIGHT=1.2 -DLPS_LONGER_RANGE -DLPS_FULL_TX_POWER"
+        # Build Bigquad deck with all config options
+        - >
+          "EXTRA_CFLAGS=-DENABLE_BQ_DECK -DBQ_DECK_ENABLE_OSD -DBQ_DECK_ENABLE_PM"
+    env:
+      FEATURE: ${{ matrix.features }}
+    
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 ${{ env.FEATURE }} UNIT_TEST_STYLE=min
+
+  apps:
+    runs-on: ubuntu-latest
+    needs: cf2
+
+    strategy:
+      fail-fast: false
+      matrix:
+        example:
+        - app_api
+        - examples/app_hello_world
+        - examples/app_peer_to_peer
+        - examples/demos/app_push_demo
+        - examples/demos/swarm_demo
+    env:
+      EXAMPLE: ${{ matrix.example }}
+    
+    steps:
+    - name: Checkout Repo
+      uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    - name: build
+      run: docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd ${EXAMPLE}; make -j$(nproc)"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..6b31259eac7afd648aa1c42eb642a51ec73d7a82
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/.gitignore
@@ -0,0 +1,32 @@
+build_info.json
+
+^bin/dep/all
+bin/*
+.cproject
+.project
+.pydevproject
+.settings/*
+.vscode/*
+*~
+tools/make/config.mk
+cflie.*
+version.c
+tags
+
+/cf2.*
+/tag.*
+*.gch
+
+current_platform.mk
+
+/generated/test/build/**
+!/generated/test/build/.gitkeep
+/generated/test/mocks/**
+!/generated/test/mocks/.gitkeep
+/generated/**
+
+**/__pycache__/**
+
+/docs/.jekyll-metadata
+docs/.jekyll-cache
+docs/api
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/CONTRIBUTING.md b/crazyflie_software/crazyflie-firmware-lab-part-1/CONTRIBUTING.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c54c91061e1292772443ad63662b69a5c363785
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/CONTRIBUTING.md
@@ -0,0 +1,44 @@
+Contributing
+============
+
+👍🎉 Thanks a lot for considering contributing 🎉👍
+
+We welcome and encourage contribution. There is many way to contribute: you can
+write bug report, contribute code or documentation.
+You can also go to the [bitcraze forum](https://forum.bitcraze.io) and help others.
+
+## Reporting issues
+
+When reporting issues the more information you can supply the better.
+
+ - **Information about the environment:**
+   - What version of the firmware are you running
+   - If relevant, what are you using to control the Crazyflie. ie. What lib or client, and what version.
+ - **How to reproduce the issue:** Step-by-step guide on how the issue can be reproduced (or at least how you reproduce it).
+ Include everything you think might be useful, the more information the better.
+
+## Improvements request and proposal
+
+We and the community are continuously working to improve the firmware.
+Feel free to make an issue to request a new functionality.
+
+## Contributing code/Pull-Request
+
+We welcome code contribution, this can be done by starting a pull-request.
+
+If the change is big, typically if the change span to more than one file, consider starting an issue first to discuss the improvement.
+This will makes it much easier to make the change fit well into the firmware.
+
+There is some basic requirement for us to merge a pull request:
+ - Describe the change
+ - Refer to any issues it effects
+ - Separate one pull request per functionality: if you start writing "and" in the feature description consider if it could be separated in two pull requests.
+ - The pull request must pass the automated test (see test section bellow)
+
+In your code:
+ - 2 spaces indentation
+ - Make sure the coding style of your code follows the style of the file.
+
+### Run test
+
+To run the tests please have a look at the [unit test documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/unit_testing/).
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/LICENSE.txt b/crazyflie_software/crazyflie-firmware-lab-part-1/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20d40b6bceca3a6c0237d7455ebf1820aeff3680
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/LICENSE.txt
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
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+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
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+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
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+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
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+authors' sake, the GPL requires that modified versions be marked as
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+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
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+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
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+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
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+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    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, either version 3 of the License, or
+    (at your option) any later version.
+
+    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.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0e252b682274dc12a6977cc0709b4387f24d0739
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/Makefile
@@ -0,0 +1,500 @@
+# CrazyFlie's Makefile
+# Copyright (c) 2011-2021 Bitcraze AB
+# This Makefile compiles all the object file to ./bin/ and the resulting firmware
+# image in ./cfX.elf and ./cfX.bin
+
+CRAZYFLIE_BASE ?= ./
+
+# Put your personal build config in tools/make/config.mk and DO NOT COMMIT IT!
+# Make a copy of tools/make/config.mk.example to get you started
+-include tools/make/config.mk
+
+CFLAGS += $(EXTRA_CFLAGS)
+
+######### JTAG and environment configuration ##########
+OPENOCD           ?= openocd
+OPENOCD_INTERFACE ?= interface/stlink.cfg
+OPENOCD_CMDS      ?=
+CROSS_COMPILE     ?= arm-none-eabi-
+PYTHON            ?= python3
+DFU_UTIL          ?= dfu-util
+CLOAD             ?= 1
+DEBUG             ?= 0
+CLOAD_SCRIPT      ?= python3 -m cfloader
+CLOAD_CMDS        ?=
+CLOAD_ARGS        ?=
+PLATFORM          ?= cf2
+LPS_TDMA_ENABLE   ?= 0
+LPS_TDOA_ENABLE   ?= 0
+LPS_TDOA3_ENABLE  ?= 0
+
+
+# Platform configuration handling
+-include current_platform.mk
+include $(CRAZYFLIE_BASE)/tools/make/platform.mk
+
+CFLAGS += -DCRAZYFLIE_FW
+
+######### Stabilizer configuration ##########
+## These are set by the platform (see tools/make/platforms/*.mk), can be overwritten here
+ESTIMATOR          ?= any
+CONTROLLER         ?= Any # one of Any, PID, Mellinger, INDI
+POWER_DISTRIBUTION ?= stock
+
+#OpenOCD conf
+RTOS_DEBUG        ?= 0
+
+LIB = $(CRAZYFLIE_BASE)/src/lib
+FREERTOS = $(CRAZYFLIE_BASE)/vendor/FreeRTOS
+CFLAGS += -DBLOBS_LOC='"$(CRAZYFLIE_BASE)/blobs/"'
+
+# Communication Link
+UART2_LINK        ?= 0
+
+
+############### CPU-specific build configuration ################
+
+ifeq ($(CPU), stm32f4)
+PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
+LINKER_DIR = $(CRAZYFLIE_BASE)/tools/make/F405/linker
+ST_OBJ_DIR  = $(CRAZYFLIE_BASE)/tools/make/F405
+
+OPENOCD_TARGET    ?= target/stm32f4x.cfg
+
+
+# St Lib
+VPATH += $(LIB)/CMSIS/STM32F4xx/Source/
+VPATH += $(LIB)/STM32_USB_Device_Library/Core/src
+VPATH += $(LIB)/STM32_USB_OTG_Driver/src
+VPATH += $(CRAZYFLIE_BASE)/src/deck/api $(CRAZYFLIE_BASE)/src/deck/core $(CRAZYFLIE_BASE)/src/deck/drivers/src $(CRAZYFLIE_BASE)/src/deck/drivers/src/test
+VPATH += $(CRAZYFLIE_BASE)/src/utils/src/tdoa $(CRAZYFLIE_BASE)/src/utils/src/lighthouse
+CRT0 = startup_stm32f40xx.o system_stm32f4xx.o
+
+# Add ST lib object files
+-include $(ST_OBJ_DIR)/st_obj.mk
+
+# USB obj
+ST_OBJ += usb_core.o usb_dcd_int.o usb_dcd.o
+# USB Device obj
+ST_OBJ += usbd_ioreq.o usbd_req.o usbd_core.o
+
+PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
+CFLAGS += -fno-math-errno -DARM_MATH_CM4 -D__FPU_PRESENT=1 -mfp16-format=ieee
+
+#Flags required by the ST library
+CFLAGS += -DSTM32F4XX -DSTM32F40_41xxx -DHSE_VALUE=8000000 -DUSE_STDPERIPH_DRIVER
+
+LOAD_ADDRESS_stm32f4 = 0x8000000
+LOAD_ADDRESS_CLOAD_stm32f4 = 0x8004000
+MEM_SIZE_FLASH_K = 1008
+MEM_SIZE_RAM_K = 128
+MEM_SIZE_CCM_K = 64
+endif
+
+################ Build configuration ##################
+
+# libdw dw1000 driver
+VPATH += $(CRAZYFLIE_BASE)/vendor/libdw1000/src
+
+# vl53l1 driver
+VPATH += $(LIB)/vl53l1/core/src
+
+# FreeRTOS
+VPATH += $(PORT)
+PORT_OBJ = port.o
+VPATH +=  $(FREERTOS)/portable/MemMang
+MEMMANG_OBJ ?= heap_4.o
+
+VPATH += $(FREERTOS)
+FREERTOS_OBJ = list.o tasks.o queue.o timers.o $(MEMMANG_OBJ)
+
+#FatFS
+VPATH += $(LIB)/FatFS
+PROJ_OBJ += ff.o ffunicode.o fatfs_sd.o
+ifeq ($(FATFS_DISKIO_TESTS), 1)
+PROJ_OBJ += diskio_function_tests.o
+CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
+endif
+
+ifeq ($(APP), 1)
+CFLAGS += -DAPP_ENABLED=1
+endif
+ifdef APP_STACKSIZE
+CFLAGS += -DAPP_STACKSIZE=$(APP_STACKSIZE)
+endif
+ifdef APP_PRIORITY
+CFLAGS += -DAPP_PRIORITY=$(APP_PRIORITY)
+endif
+
+# Crazyflie sources
+VPATH += $(CRAZYFLIE_BASE)/src/init $(CRAZYFLIE_BASE)/src/hal/src $(CRAZYFLIE_BASE)/src/modules/src $(CRAZYFLIE_BASE)/src/modules/src/lighthouse $(CRAZYFLIE_BASE)/src/modules/src/kalman_core $(CRAZYFLIE_BASE)/src/utils/src $(CRAZYFLIE_BASE)/src/drivers/bosch/src $(CRAZYFLIE_BASE)/src/drivers/src $(CRAZYFLIE_BASE)/src/platform
+VPATH += $(CRAZYFLIE_BASE)/src/utils/src/kve
+
+############### Source files configuration ################
+
+# Init
+PROJ_OBJ += main.o
+PROJ_OBJ += platform.o platform_utils.o platform_$(PLATFORM).o platform_$(CPU).o
+
+# Drivers
+PROJ_OBJ += exti.o nvic.o motors.o
+PROJ_OBJ += led.o mpu6500.o i2cdev.o ws2812_cf2.o lps25h.o i2c_drv.o
+PROJ_OBJ += ak8963.o eeprom.o maxsonar.o piezo.o
+PROJ_OBJ += uart_syslink.o swd.o uart1.o uart2.o watchdog.o
+PROJ_OBJ += cppm.o
+PROJ_OBJ += bmi055_accel.o bmi055_gyro.o bmi160.o bmp280.o bstdr_comm_support.o bmm150.o
+PROJ_OBJ += bmi088_accel.o bmi088_gyro.o bmi088_fifo.o bmp3.o
+PROJ_OBJ += pca9685.o vl53l0x.o pca95x4.o pca9555.o vl53l1x.o pmw3901.o
+PROJ_OBJ += amg8833.o lh_bootloader.o
+
+# USB Files
+PROJ_OBJ += usb_bsp.o usblink.o usbd_desc.o usb.o
+
+# Hal
+PROJ_OBJ += crtp.o ledseq.o freeRTOSdebug.o buzzer.o
+PROJ_OBJ += pm_$(CPU).o syslink.o radiolink.o ow_syslink.o ow_common.o proximity.o usec_time.o
+PROJ_OBJ += sensors.o
+PROJ_OBJ += storage.o
+
+# libdw
+PROJ_OBJ += libdw1000.o libdw1000Spi.o
+
+# vl53l1 lib
+PROJ_OBJ += vl53l1_api_core.o vl53l1_api.o vl53l1_core.o vl53l1_silicon_core.o vl53l1_api_strings.o
+PROJ_OBJ += vl53l1_api_calibration.o vl53l1_api_debug.o vl53l1_api_preset_modes.o vl53l1_error_strings.o
+PROJ_OBJ += vl53l1_register_funcs.o vl53l1_wait.o vl53l1_core_support.o
+
+# Modules
+PROJ_OBJ += system.o comm.o console.o pid.o crtpservice.o param.o
+PROJ_OBJ += bootloader.o
+PROJ_OBJ += log.o worker.o queuemonitor.o msp.o
+PROJ_OBJ += platformservice.o sound_cf2.o extrx.o sysload.o mem.o
+PROJ_OBJ += range.o app_handler.o static_mem.o app_channel.o
+PROJ_OBJ += eventtrigger.o supervisor.o
+
+# Stabilizer modules
+PROJ_OBJ += commander.o crtp_commander.o crtp_commander_rpyt.o
+PROJ_OBJ += crtp_commander_generic.o crtp_localization_service.o peer_localization.o
+PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
+PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o position_controller_indi.o
+PROJ_OBJ += estimator.o estimator_complementary.o
+PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
+PROJ_OBJ += student_attitude_controller.o student_pid.o
+PROJ_OBJ += controller_student.o
+PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
+PROJ_OBJ += collision_avoidance.o health.o
+
+# Kalman estimator
+PROJ_OBJ += estimator_kalman.o kalman_core.o kalman_supervisor.o
+PROJ_OBJ += mm_distance.o mm_absolute_height.o mm_position.o mm_pose.o mm_tdoa.o mm_flow.o mm_tof.o mm_yaw_error.o mm_sweep_angles.o
+PROJ_OBJ += mm_tdoa_robust.o mm_distance_robust.o
+
+# High-Level Commander
+PROJ_OBJ += crtp_commander_high_level.o planner.o pptraj.o pptraj_compressed.o
+
+# Deck Core
+PROJ_OBJ += deck.o deck_info.o deck_drivers.o deck_test.o deck_memory.o
+
+# Deck API
+PROJ_OBJ += deck_constants.o
+PROJ_OBJ += deck_digital.o
+PROJ_OBJ += deck_analog.o
+PROJ_OBJ += deck_spi.o
+PROJ_OBJ += deck_spi3.o
+
+# Decks
+PROJ_OBJ += bigquad.o
+PROJ_OBJ += ledring12.o
+PROJ_OBJ += buzzdeck.o
+PROJ_OBJ += gtgps.o
+PROJ_OBJ += cppmdeck.o
+PROJ_OBJ += usddeck.o
+PROJ_OBJ += zranger.o zranger2.o
+PROJ_OBJ += locodeck.o
+PROJ_OBJ += clockCorrectionEngine.o
+PROJ_OBJ += lpsTwrTag.o
+PROJ_OBJ += lpsTdoa2Tag.o
+PROJ_OBJ += lpsTdoa3Tag.o tdoaEngineInstance.o tdoaEngine.o tdoaStats.o tdoaStorage.o
+PROJ_OBJ += outlierFilter.o
+PROJ_OBJ += flowdeck_v1v2.o
+PROJ_OBJ += oa.o
+PROJ_OBJ += multiranger.o
+PROJ_OBJ += lighthouse.o
+PROJ_OBJ += activeMarkerDeck.o
+
+# Uart2 Link for CRTP communication is not compatible with decks using uart2
+ifeq ($(UART2_LINK), 1)
+CFLAGS += -DUART2_LINK_COMM
+else
+PROJ_OBJ += aideck.o
+endif
+
+ifeq ($(LPS_TDOA_ENABLE), 1)
+CFLAGS += -DLPS_TDOA_ENABLE
+endif
+
+ifeq ($(LPS_TDOA3_ENABLE), 1)
+CFLAGS += -DLPS_TDOA3_ENABLE
+endif
+
+ifeq ($(LPS_TDMA_ENABLE), 1)
+CFLAGS += -DLPS_TDMA_ENABLE
+endif
+
+ifdef SENSORS
+SENSORS_UPPER = $(shell echo $(SENSORS) | tr a-z A-Z)
+CFLAGS += -DSENSORS_FORCE=SensorImplementation_$(SENSORS)
+
+# Add sensor file to the build if needed
+ifeq (,$(findstring DSENSOR_INCLUDED_$(SENSORS_UPPER),$(CFLAGS)))
+CFLAGS += -DSENSOR_INCLUDED_$(SENSORS_UPPER)
+PROJ_OBJ += sensors_$(SENSORS).o
+endif
+endif
+
+#Deck tests
+PROJ_OBJ += exptest.o
+PROJ_OBJ += exptestRR.o
+PROJ_OBJ += exptestBolt.o
+#PROJ_OBJ += bigquadtest.o
+#PROJ_OBJ += uarttest.o
+#PROJ_OBJ += aidecktest.o
+
+
+# Utilities
+PROJ_OBJ += filter.o cpuid.o cfassert.o  eprintf.o crc32.o num.o debug.o
+PROJ_OBJ += version.o FreeRTOS-openocd.o
+PROJ_OBJ += configblockeeprom.o
+PROJ_OBJ += sleepus.o statsCnt.o rateSupervisor.o
+PROJ_OBJ += lighthouse_core.o pulse_processor.o pulse_processor_v1.o pulse_processor_v2.o lighthouse_geometry.o ootx_decoder.o lighthouse_calibration.o lighthouse_deck_flasher.o lighthouse_position_est.o lighthouse_storage.o
+PROJ_OBJ += kve_storage.o kve.o
+
+ifeq ($(DEBUG_PRINT_ON_SEGGER_RTT), 1)
+VPATH += $(LIB)/Segger_RTT/RTT
+INCLUDES += -I$(LIB)/Segger_RTT/RTT
+PROJ_OBJ += SEGGER_RTT.o SEGGER_RTT_printf.o
+CFLAGS += -DDEBUG_PRINT_ON_SEGGER_RTT
+endif
+
+# Libs
+PROJ_OBJ += libarm_math.a
+
+OBJ = $(FREERTOS_OBJ) $(PORT_OBJ) $(ST_OBJ) $(PROJ_OBJ) $(APP_OBJ) $(CRT0)
+
+############### Compilation configuration ################
+AS = $(CROSS_COMPILE)as
+CC = $(CROSS_COMPILE)gcc
+LD = $(CROSS_COMPILE)gcc
+SIZE = $(CROSS_COMPILE)size
+OBJCOPY = $(CROSS_COMPILE)objcopy
+GDB = $(CROSS_COMPILE)gdb
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Core/Include -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Include
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
+INCLUDES += -I$(FREERTOS)/include -I$(PORT)
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/config
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/platform
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/hal/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/modules/interface -I$(CRAZYFLIE_BASE)/src/modules/interface/kalman_core -I$(CRAZYFLIE_BASE)/src/modules/interface/lighthouse
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/utils/interface/kve -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
+
+INCLUDES += -I$(LIB)/FatFS
+INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
+INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
+INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
+INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
+INCLUDES += -I$(LIB)/vl53l1 -I$(LIB)/vl53l1/core/inc
+
+CFLAGS += -g3
+ifeq ($(DEBUG), 1)
+  CFLAGS += -O0 -DDEBUG
+
+  # Prevent silent errors when converting between types (requires explicit casting)
+  CFLAGS += -Wconversion
+else
+  CFLAGS += -Os
+
+  # Fail on warnings
+  CFLAGS += -Werror
+endif
+
+# Disable warnings for unaligned addresses in packed structs (added in GCC 9)
+CFLAGS += -Wno-address-of-packed-member
+
+ifeq ($(LTO), 1)
+  CFLAGS += -flto
+endif
+
+CFLAGS += -DBOARD_REV_$(REV) -DESTIMATOR_NAME=$(ESTIMATOR)Estimator -DCONTROLLER_NAME=ControllerType$(CONTROLLER) -DPOWER_DISTRIBUTION_TYPE_$(POWER_DISTRIBUTION)
+
+CFLAGS += $(PROCESSOR) $(INCLUDES)
+
+
+CFLAGS += -Wall -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11
+# CFLAGS += -O0 -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11 #Use this compiler during debugger, as it has a different optimizer so you can better track variables
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
+#Permits to remove un-used functions and global variables from output file
+CFLAGS += -ffunction-sections -fdata-sections
+# Prevent promoting floats to doubles
+CFLAGS += -Wdouble-promotion
+
+
+ASFLAGS = $(PROCESSOR) $(INCLUDES)
+LDFLAGS += --specs=nosys.specs --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
+LDFLAGS += -L$(CRAZYFLIE_BASE)/tools/make/F405/linker
+
+#Flags required by the ST library
+ifeq ($(CLOAD), 1)
+  LDFLAGS += -T $(LINKER_DIR)/FLASH_CLOAD.ld
+  LOAD_ADDRESS = $(LOAD_ADDRESS_CLOAD_$(CPU))
+else
+  LDFLAGS += -T $(LINKER_DIR)/FLASH.ld
+  LOAD_ADDRESS = $(LOAD_ADDRESS_$(CPU))
+endif
+
+ifeq ($(LTO), 1)
+  LDFLAGS += -Os -flto -fuse-linker-plugin
+endif
+
+#Program name
+PROG = $(PLATFORM)
+#Where to compile the .o
+BIN = bin
+VPATH += $(BIN)
+
+#Dependency files to include
+DEPS := $(foreach o,$(OBJ),$(BIN)/dep/$(o).d)
+
+##################### Misc. ################################
+ifeq ($(SHELL),/bin/sh)
+  COL_RED=\033[1;31m
+  COL_GREEN=\033[1;32m
+  COL_RESET=\033[m
+endif
+
+# This define n-thing is a standard hack to get newlines in GNU Make.
+define n
+
+
+endef
+
+# Make sure that the submodules are up to date.
+# Check if there are any files in the vendor directories, if not warn the user.
+ifeq ($(wildcard $(CRAZYFLIE_BASE)/vendor/*/*),)
+  $(error $n                                                                   \
+    The submodules does not seem to be present, consider fetching them by:$n   \
+      $$ git submodule init$n                                                  \
+      $$ git submodule update$n                                                \
+  )
+endif
+
+#################### Targets ###############################
+
+all: bin/ bin/dep bin/vendor check_submodules build
+build:
+# Each target is in a different line, so they are executed one after the other even when the processor has multiple cores (when the -j option for the make command is > 1). See: https://www.gnu.org/software/make/manual/html_node/Parallel.html
+	@$(MAKE) --no-print-directory clean_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory compile CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory print_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) --no-print-directory size CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+compile: $(PROG).hex $(PROG).bin $(PROG).dfu
+
+bin/:
+	mkdir -p bin
+
+bin/dep:
+	mkdir -p bin/dep
+
+bin/vendor:
+	mkdir -p bin/vendor
+
+libarm_math.a:
+	+$(MAKE) -C $(CRAZYFLIE_BASE)/tools/make/cmsis_dsp/ CRAZYFLIE_BASE=$(abspath $(CRAZYFLIE_BASE)) PROJ_ROOT=$(CURDIR) V=$(V) CROSS_COMPILE=$(CROSS_COMPILE)
+
+clean_version:
+ifeq ($(SHELL),/bin/sh)
+	@echo "  CLEAN_VERSION"
+	@rm -f version.c
+endif
+
+print_version:
+	@echo "Build for the $(PLATFORM_NAME_$(PLATFORM))!"
+	@$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) --print-version
+ifeq ($(CLOAD), 1)
+	@echo "Crazyloader build!"
+endif
+ifeq ($(FATFS_DISKIO_TESTS), 1)
+	@echo "WARNING: FatFS diskio tests enabled. Erases SD-card!"
+endif
+
+size:
+	@$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/size.py $(SIZE) $(PROG).elf $(MEM_SIZE_FLASH_K) $(MEM_SIZE_RAM_K) $(MEM_SIZE_CCM_K)
+
+#Radio bootloader
+cload:
+ifeq ($(CLOAD), 1)
+	$(CLOAD_SCRIPT) $(CLOAD_CMDS) flash $(CLOAD_ARGS) $(PROG).bin stm32-fw
+else
+	@echo "Only cload build can be bootloaded. Launch build and cload with CLOAD=1"
+endif
+
+#Flash the stm.
+flash:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
+                 -c "flash write_image erase $(PROG).bin $(LOAD_ADDRESS) bin" \
+                 -c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
+
+#verify only
+flash_verify:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset halt" \
+                 -c "verify_image $(PROG).bin $(LOAD_ADDRESS) bin" -c "reset run" -c shutdown
+
+flash_dfu:
+	$(PYTHON) tools/make/usb-bootloader.py
+	$(DFU_UTIL) -d 0483:df11 -a 0 -D $(PROG).dfu -s :leave
+
+#STM utility targets
+halt:
+	$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c shutdown
+
+reset:
+	$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "reset" -c shutdown
+
+openocd:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -c "\$$_TARGETNAME configure -rtos auto"
+
+trace:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets -f tools/trace/enable_trace.cfg
+
+rtt:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) $(OPENOCD_CMDS) -f $(OPENOCD_TARGET) -c init -c targets \
+	           -c "rtt setup 0x20000000 262144 \"SEGGER RTT\"" -c "rtt start" -c "rtt server start 2000 0"
+
+gdb: $(PROG).elf
+	$(GDB) -ex "target remote localhost:3333" -ex "monitor reset halt" $^
+  
+erase:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -c "halt" -c "stm32f4x mass_erase 0" -c shutdown
+
+#Print preprocessor #defines
+prep:
+	@$(CC) $(CFLAGS) -dM -E - < /dev/null
+
+check_submodules:
+	@cd $(CRAZYFLIE_BASE); $(PYTHON) tools/make/check-for-submodules.py
+
+include $(CRAZYFLIE_BASE)/tools/make/targets.mk
+
+#include dependencies
+-include $(DEPS)
+
+unit:
+# The flag "-DUNITY_INCLUDE_DOUBLE" allows comparison of double values in Unity. See: https://stackoverflow.com/a/37790196
+	rake unit "DEFINES=$(CFLAGS) -DUNITY_INCLUDE_DOUBLE" "FILES=$(FILES)" "UNIT_TEST_STYLE=$(UNIT_TEST_STYLE)"
+
+.PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_verify cload size print_version clean_version
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2eb5a8e304e98e477a20f6736dcb625fd62ba945
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/README.md
@@ -0,0 +1,31 @@
+# Crazyflie Firmware  [![CI](https://github.com/bitcraze/crazyflie-firmware/workflows/CI/badge.svg)](https://github.com/bitcraze/crazyflie-firmware/actions?query=workflow%3ACI)
+
+This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.X and the Roadrunner.
+
+### Crazyflie 1.0 support
+
+The 2017.06 release was the last release with Crazyflie 1.0 support. If you want
+to play with the Crazyflie 1.0 and modify the code, please clone this repo and
+branch off from the 2017.06 tag.
+
+## Building and Flashing
+See the [building and flashing instructions](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/build/) in the github docs folder.
+
+
+## Official Documentation
+
+Check out the [Bitcraze crazyflie-firmware documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/) on our website.
+
+## Generated documentation
+
+The easiest way to generate the API documentation is to use the [toolbelt](https://github.com/bitcraze/toolbelt)
+
+```tb build-docs```
+
+and to view it in a web page
+
+```tb docs```
+
+## License
+
+The code is licensed under LGPL-3.0
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/RELEASE_CHECKLIST.md b/crazyflie_software/crazyflie-firmware-lab-part-1/RELEASE_CHECKLIST.md
new file mode 100644
index 0000000000000000000000000000000000000000..a340016b8d7b818adb05051effb826c07b56c9f2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/RELEASE_CHECKLIST.md
@@ -0,0 +1,28 @@
+Crazyflie firmware release checklist
+====================================
+
+Build
+------
+ 1. Generate release candidates usging the build server
+
+Checks
+---------
+ - Verify basic connectivity and flight with client and Crzyradio
+     - CF 2.0
+     - CF 2.1
+     - Bolt
+     - Roadrunner (no flight obiously)
+ - Verify basic connectivity and flight with BLE, Android and Iphone clients
+     - CF 2.0
+     - CF 2.1
+     - Bolt
+     - Roadrunner (no flight obiously)
+ - Verify that LOG and params are still working
+ - Verify swarm connectivity using the multi test bench
+ - Veirfy basic functionality of all decks
+ - Verify the examples in the python lib
+ - Verify that positioning works using python example scripts
+     - LPS
+     - Lighthouse
+     - Mocap
+     - Flow
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/Rakefile b/crazyflie_software/crazyflie-firmware-lab-part-1/Rakefile
new file mode 100644
index 0000000000000000000000000000000000000000..b66c82b6fa2d8ed21ec2c51ced6de214632e2f9f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/Rakefile
@@ -0,0 +1,41 @@
+# Rakefile used for running unit tests
+
+HERE = File.expand_path(File.dirname(__FILE__)) + '/'
+
+require 'rake'
+require 'rake/clean'
+require 'rake/testtask'
+require './tools/test/rakefile_helper'
+
+include RakefileHelpers
+
+# Load default configuration, for now
+DEFAULT_CONFIG_FILE = './tools/test/gcc.yml'
+configure_toolchain(DEFAULT_CONFIG_FILE)
+
+task :unit do
+  # This prevents all argumets after 'unit' to be interpreted as targets by rake
+  ARGV.each { |a| task a.to_sym do ; end }
+
+  if ARGV.length == 0
+    parse_and_run_tests([])
+  else
+    parse_and_run_tests(ARGV[1..-1])
+  end
+end
+
+desc "Generate test summary"
+task :summary do
+  report_summary
+end
+
+desc "Build and test Unity"
+task :all => [:clean, :unit, :summary]
+task :default => [:clobber, :all]
+task :ci => [:default]
+task :cruise => [:default]
+
+desc "Load configuration"
+task :config, :config_file do |t, args|
+  configure_toolchain(args[:config_file])
+end
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..cbae7a805619dd8963d061c4e08370cff9cfd771
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += app_main.o
+
+CRAZYFLIE_BASE=..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d484c7b73fdb55c53a11edfaaa9427a7d843416f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/README.md
@@ -0,0 +1,22 @@
+# API App for Crazyflie 2.X
+
+This folder contains an app layer application for the Crazyflie that is intended to document which functions that are part of the
+app API. This is not an example app with useful code, see the example directroy for examples of how to use functions.
+
+The app is built by CI servers to make sure we do not modify functions that is part of the official app API by misstake.
+Please add any new functions that should be part of the API to it.
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## How to use the app
+
+Do NOT flash and use it! It does not do anything useful and may have unpredictable behaviour, it is only intended to be compiled but not to run.
+
+## Build
+
+Make sure that you are in the app_api folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+```
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/src/app_main.c b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/src/app_main.c
new file mode 100644
index 0000000000000000000000000000000000000000..1694deec58558296d661804121340bbf2866b0ac
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/app_api/src/app_main.c
@@ -0,0 +1,135 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2020 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * api_app.c - App layer application that calls app API functions to make
+ *             sure they are compiled in CI.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "ledseq.h"
+#include "crtp_commander_high_level.h"
+#include "locodeck.h"
+#include "mem.h"
+#include "log.h"
+#include "param.h"
+#include "pm.h"
+#include "app_channel.h"
+
+
+#define DEBUG_MODULE "APPAPI"
+
+void appMain() {
+  // Do not run this app
+  ASSERT_FAILED();
+
+  // LED sequencer
+  {
+    ledseqContext_t ledSeqContext;
+    ledseqRegisterSequence(&ledSeqContext);
+    ledseqRun(&ledSeqContext);
+    ledseqRunBlocking(&ledSeqContext);
+    ledseqStop(&ledSeqContext);
+    ledseqStopBlocking(&ledSeqContext);
+  }
+
+  // High level commander
+  {
+    uint8_t dummyTrajectory[10];
+    crtpCommanderHighLevelTakeoff(1.0f, 1.0f);
+    crtpCommanderHighLevelTakeoffYaw(1.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelLand(0.0f, 1.0f);
+    crtpCommanderHighLevelLandYaw(0.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelStop();
+    crtpCommanderHighLevelGoTo(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, false);
+    crtpCommanderHighLevelStartTrajectory(3, 1.0f, true, false);
+    crtpCommanderHighLevelDefineTrajectory(3, CRTP_CHL_TRAJECTORY_TYPE_POLY4D_COMPRESSED, 0, 17);
+    crtpCommanderHighLevelTrajectoryMemSize();
+    crtpCommanderHighLevelWriteTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelReadTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelIsTrajectoryFinished();
+    crtpCommanderHighLevelTakeoffWithVelocity(1.0f, 1.0f, true);
+    crtpCommanderHighLevelLandWithVelocity(1.0f, 1.0f, true);
+  }
+
+  // LPS
+  {
+    point_t position;
+    uint8_t unorderedAnchorList[5];
+
+    locoDeckGetAnchorPosition(0, &position);
+    locoDeckGetAnchorIdList(unorderedAnchorList, 5);
+    locoDeckGetActiveAnchorIdList(unorderedAnchorList, 5);
+  }
+
+  // Memory sub system
+  {
+    static const MemoryHandlerDef_t memDef = {.type = MEM_TYPE_APP,};
+    memoryRegisterHandler(&memDef);
+  }
+
+  // Log
+  {
+    logVarId_t id = logGetVarId("some", "log");
+    logGetFloat(id);
+    logGetInt(id);
+    logGetUint(id);
+  }
+
+  // Param
+  {
+    paramVarId_t id = paramGetVarId("some", "param");
+    paramGetFloat(id);
+    paramGetInt(id);
+    paramGetUint(id);
+    paramSetInt(id, 0);
+    paramSetFloat(id, 0.0f);
+  }
+
+  // Power management
+  {
+    pmIsBatteryLow();
+    pmIsChargerConnected();
+    pmIsCharging();
+    pmIsDischarging();
+  }
+
+  // App-channel
+  {
+    char buffer[APPCHANNEL_MTU];
+    appchannelSendPacket("hello", 5);
+    appchannelReceivePacket(buffer, APPCHANNEL_MTU, APPCHANNEL_WAIT_FOREVER);
+    appchannelHasOverflowOccured();
+  }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/_data/menu.yml b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/_data/menu.yml
new file mode 100644
index 0000000000000000000000000000000000000000..95a9ec0c96df86edee725f57b7d6a55b33cefb8b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/_data/menu.yml
@@ -0,0 +1,37 @@
+- page_id: home
+- title: Building and Flashing
+  subs:
+    - {page_id: build}
+- title: Userguides
+  subs:
+    - {page_id: deck}
+    - {page_id: decks-index}
+    - {page_id: logparam}
+    - {page_id: eventtrigger}
+    - {page_id: app_layer}
+- title: Functional areas
+  subs:
+    - {page_id: crtp_index}
+    - {page_id: memory_subsystem}
+    - {page_id: stabilizer_index}
+    - {page_id: deck_memory_format}
+    - {page_id: p2p_api}
+    - {page_id: trajectory_formats}
+    - {page_id: lh_overview}
+    - {page_id: loco_positioning}
+    - {page_id: persistent_storage}
+- title: Development Instructions
+  subs:
+    - {page_id: starting_development}
+    - {page_id: howto}
+    - {page_id: serial}
+    - {page_id: openocd_gdb_debugging}
+    - {page_id: unit_testing}
+    - {page_id: systemtask}
+    - {page_id: memory_management}
+    - {page_id: dfu}
+    - {page_id: oot}
+- title: Auto-generated API Documentation
+  subs:
+    - {page_id: logs}
+    - {page_id: params}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/building-and-flashing/build.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/building-and-flashing/build.md
new file mode 100644
index 0000000000000000000000000000000000000000..fc5be61508620b87e30c0eccd130543960f3e05b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/building-and-flashing/build.md
@@ -0,0 +1,234 @@
+---
+title: Building and Flashing
+page_id: build
+---
+
+## Dependencies
+
+You'll need to use either the [Crazyflie VM](https://wiki.bitcraze.io/projects:virtualmachine:index),
+[the toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) or
+install some ARM toolchain.
+
+### Install a toolchain
+
+#### OS X
+```bash
+brew tap PX4/homebrew-px4
+brew install gcc-arm-none-eabi
+```
+
+#### Debian/Ubuntu
+
+Tested on Ubuntu 14.04 64b/16.04 64b/18.04 64b/20.04 64b/20.10 64b:
+
+For Ubuntu 14.04 :
+
+```bash
+sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
+sudo apt-get update
+sudo apt-get install libnewlib-arm-none-eabi
+```
+
+For Ubuntu 16.04 and 18.04:
+
+```bash
+sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+sudo apt-get update
+sudo apt install gcc-arm-embedded
+```
+
+For Ubuntu 20.04 and 20.10:
+
+```bash
+sudo apt-get install make gcc-arm-none-eabi
+```
+
+#### Arch Linux
+
+```bash
+sudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlib
+```
+
+#### Windows
+
+The GCC ARM Embedded toolchain for Windows is available at [launchpad.net](https://launchpad.net/gcc-arm-embedded/+download). Download the zip archive rather than the executable installer. There are a few different systems for running UNIX-style shells and build systems on Windows; the instructions below are for [Cygwin](https://www.cygwin.com/).
+
+Install Cygwin with [setup-x86_64.exe](https://www.cygwin.com/setup-x86_64.exe). Use the standard `C:\cygwin64` installation directory and install at least the `make` and `git` packages.
+
+Download the latest `gcc-arm-none-eabi-*-win32.zip` archive from [launchpad.net](https://launchpad.net/gcc-arm-embedded/+download). Create the directory `C:\cygwin64\opt\gcc-arm-none-eabi` and extract the contents of the zip file to it.
+
+Launch a Cygwin terminal and run the following to append to your `~/.bashrc` file:
+```bash
+echo '[[ $PATH == */opt/gcc-arm-none-eabi/bin* ]] || export PATH=/opt/gcc-arm-none-eabi/bin:$PATH' >>~/.bashrc
+source ~/.bashrc
+```
+
+Verify the toolchain installation with `arm-none-eabi-gcc --version`
+
+### Cloning
+
+This repository uses git submodules. Clone with the `--recursive` flag
+
+```bash
+git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
+```
+
+If you already have cloned the repo without the `--recursive` option, you need to
+get the submodules manually
+
+```bash
+cd crazyflie-firmware
+git submodule init
+git submodule update
+```
+
+
+## Compiling
+
+### Crazyflie 2.X
+
+This is the default build so just running ```make``` is enough or:
+```bash
+make PLATFORM=cf2
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=cf2
+```
+
+### Roadrunner
+
+Use the ```tag``` platform
+
+```bash
+make PLATFORM=tag
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=tag
+```
+
+
+### config.mk
+To create custom build options create a file called `config.mk` in the `tools/make/`
+folder and fill it with options. E.g.
+```
+PLATFORM=CF2
+DEBUG=1
+```
+More information can be found on the
+[Bitcraze documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/)
+
+
+# Make targets:
+
+```
+all        : Shortcut for build
+compile    : Compile cflie.hex. WARNING: Do NOT update version.c
+build      : Update version.c and compile cflie.elf/hex
+clean_o    : Clean only the Objects files, keep the executables (ie .elf, .hex)
+clean      : Clean every compiled files
+mrproper   : Clean every compiled files and the classical editors backup files
+
+cload      : If the crazyflie-clients-python is placed on the same directory level and
+             the Crazyradio/Crazyradio PA is inserted it will try to flash the firmware
+             using the wireless bootloader.
+flash      : Flash .elf using OpenOCD
+halt       : Halt the target using OpenOCD
+reset      : Reset the target using OpenOCD
+openocd    : Launch OpenOCD
+rtt        : Start RTT server. Compile the firmware with "DEBUG_PRINT_ON_SEGGER_RTT=1" 
+             and the console is visible over TCP on port 2000 "telnet localhost 2000".
+```
+
+# Flashing
+Writing a new binary to the Crazyflie is called flashing (writing it to the flash memory). This page describes how to flash from the command line and there are a few different ways to do it.
+
+## Using Crazyradio
+
+The most common way to flash is probably to use the Crazyradio.
+
+### Prerequisites
+* A Crazyradio with drivers installed
+* [crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python) placed on the same directory level in the file tree
+* The firmware has been built
+* The current working directory is the root of the crazyflie-firmware project
+
+### Manually entering bootloader mode
+
+* Turn the Crazyflie off
+* Start the Crazyflie in bootloader mode by pressing the power button for 3 seconds. Both the blue LEDs will blink.
+* In your terminal, run `make cload`
+
+It will try to find a Crazyflie in bootloader mode and flash the binary to it.
+
+Warning: if multiple Crazyflies within range are in bootloader mode the result is unpredictable. This method is not suitable in classroom situation where it is likely that several students are flashing at the same time. Also remember that the Crazyradio PA often reaches into the next room.
+
+### Automatically enter bootloader mode
+
+* Add the address of the crazyflie to the [`config.mk`](#configmk) file, for instance `CLOAD_CMDS = -w radio://0/80/2M`
+* Make sure the Crazyflie is on
+* In your terminal, run `make cload`
+
+It will connect to the Crazyflie with the specified address, put it in bootloader mode and flash the binary. This method is suitable for classroom situations.
+
+Note: this method does not work if the Crazyflie does not start, for instance if the current flashed binary is corrupt. You will have to fall back to manually entering bootloader mode.
+
+## Using a debug adapter
+
+You need:
+
+* An ST Link V2 or V3 Debugger
+* open ocd installed ([installation intructions](/docs/development/openocd_gdb_debugging.md))
+* The firmware has been built
+* The current working directory is the root of the crazyflie-firmware project
+
+In your terminal, run
+
+`make flash`
+
+# Unit testing
+
+## Running all unit tests
+
+With the environment set up locally
+
+        make unit
+
+with the docker builder image and the toolbelt
+
+        tb make unit
+
+## Running one unit test
+
+When working with one specific file it is often convenient to run only one unit test
+
+       make unit FILES=test/utils/src/test_num.c
+
+or with the toolbelt
+
+       tb make unit FILES=test/utils/src/test_num.c
+
+## Running unit tests with specific build settings
+
+Defines are managed by make and are passed on to the unit test code. Use the
+normal ways of configuring make when running tests. For instance to run test
+for Crazyflie 1
+
+      make unit LPS_TDOA_ENABLE=1
+
+## Dependencies
+
+Frameworks for unit testing and mocking are pulled in as git submodules.
+
+The testing framework uses ruby and rake to generate and run code.
+
+To minimize the need for installations and configuration, use the docker builder
+image (bitcraze/builder) that contains all tools needed. All scripts in the
+tools/build directory are intended to be run in the image. The
+[toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/dfu.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/dfu.md
new file mode 100644
index 0000000000000000000000000000000000000000..418aab094f5da0df32508c8261d9161f5942d9c2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/dfu.md
@@ -0,0 +1,93 @@
+---
+title: DFU update of the STM32F405
+page_id: dfu
+redirects:
+ - /docs/building-and-flashing/dfu/
+---
+
+
+This page explains how to flash bin files over the micro usb connection.
+
+__The DFU update mode should mainly be considered as a recovery mode in
+which you can load new firmware to the STM32F405 MCU. Do not use it if you do not know what it is__
+
+The OTA (Over The
+Air) update mode is much more convenient and save and it can also update the
+nRF51 MCU at the same time.
+
+
+## Linux (Ubuntu)
+
+Install the dfu-util if you don\'t already have it with apt-get
+
+    apt-get install dfu-util
+
+Now it is time to boot the STM32F405 in the DFU update mode
+
+     1. Connect a micro-USB cable to you computer but not yet to the Crazyflie 2.0
+     2. Disconnect the Crazyflie 2.0 battery if it is connected
+     3. Now hold down the push button (on/off) while inserting the USB cable in the Crazyflie 2.0
+     4. Hold down the button for about 5 seconds until you reach the second blink rate (1Hz). Then you can release the button.
+     5. The STM32F405 is now in DFU mode
+
+
+With the STM32F405 in DFU mode you should be able to find it with lsusb
+
+    lsusb
+    ...
+    Bus XXX Device XXX: ID 0483:df11 STMicroelectronics STM Device in DFU Mode
+    ...
+
+### BIN firmware file DFU flashing
+
+Now the STM32F405 can be updated. Currently we only build binary files
+.bin and not .dfu files so we need to specify more things to dfu-util.
+If the Crazyflie 2.X firmware was compiled with CLOAD=1 (default option)
+the binary should be flashed _after the bootloader_ at address 0x08004000.
+
+    sudo dfu-util -d 0483:df11 -a 0 -s 0x08004000 -D cflie.bin
+
+### BIN bootloader recovery
+
+If for some reason, the dfu-utils overflashed the bootloader by flashing the firmware on the wrong address, you can recover the bootloader by getting the [latest release bootloader bin file](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases). The bootloader can then be correctly flashed by typing this in the terminal.
+
+    sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
+
+### DFU file
+
+To flash with a .dfu file
+
+    sudo dfu-util -d 0483:df11 -a 0 -D file.dfu
+
+### Output
+
+It takes a couple of seconds and the output should look something like
+this
+
+    cf@bitcraze:~/projects/crazyflie-firmware$ sudo dfu-util -a 0 -s 0x08004000 -D cflie.bin
+    dfu-util 0.5
+
+    (C) 2005-2008 by Weston Schmidt, Harald Welte and OpenMoko Inc.
+    (C) 2010-2011 Tormod Volden (DfuSe support)
+    This program is Free Software and has ABSOLUTELY NO WARRANTY
+
+    dfu-util does currently only support DFU version 1.0
+
+    Opening DFU USB device... ID 0483:df11
+    Run-time device DFU version 011a
+    Found DFU: [0483:df11] devnum=0, cfg=1, intf=0, alt=0, name="@Internal Flash  /0x08000000/04*016Kg,01*064Kg,07*128Kg"
+    Claiming USB DFU Interface...
+    Setting Alternate Setting #0 ...
+    Determining device status: state = dfuERROR, status = 10
+    dfuERROR, clearing status
+    Determining device status: state = dfuIDLE, status = 0
+    dfuIDLE, continuing
+    DFU mode device DFU version 011a
+    Device returned transfer size 2048
+    No valid DFU suffix signature
+    Warning: File has no DFU suffix
+    DfuSe interface name: "Internal Flash  "
+
+Now you can disconnect the USB, connect the battery, and you are ready
+to go. (Actually the only way to reset it is to disconnect the power, if
+e.g. the battery wasn\'t disconnected while entering DFU mode)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/howto.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/howto.md
new file mode 100644
index 0000000000000000000000000000000000000000..0aa32c514439b1ee887db39e0f382a3afd69d65c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/howto.md
@@ -0,0 +1,136 @@
+---
+title: Making your first Deck driver
+page_id: howto
+---
+
+This howto is going to describe step-by-step how to make and flash your
+first Crazyflie 2.X deck driver. See the deck [api documentation
+page](/docs/userguides/decks/) for more information about the
+code.
+
+Development environment
+-----------------------
+
+You should have the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware) and
+[crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python)
+cloned in the same folder. If you are using the [Bitcraze
+VM](https://github.com/bitcraze/bitcraze-vm) this is already the case.
+
+The Crazyflie firmware should be on Master branch.
+
+For the rest of the howto you will work in the crazyflie-firmware
+project.
+
+Writing the driver
+------------------
+
+Deck drivers are in the src/deck/drivers/src folder. Create this file named
+hello.c in the src/deck/drivers/src folder:
+
+``` {.c}
+#define DEBUG_MODULE "HelloDeck"
+#include "debug.h"
+
+#include "deck.h"
+
+
+static void helloInit()
+{
+  DEBUG_PRINT("Hello Crazyflie 2.0 deck world!\n");
+}
+
+static bool helloTest()
+{
+  DEBUG_PRINT("Hello test passed!\n");
+  return true;
+}
+
+static const DeckDriver helloDriver = {
+  .name = "myHello",
+  .init = helloInit,
+  .test = helloTest,
+};
+
+DECK_DRIVER(helloDriver);
+```
+
+Adding the driver to the build
+------------------------------
+
+Add this to the Makefile, after the line \'\# Decks\':
+
+``` {.make}
+PROJ_OBJ += hello.o
+```
+
+Enabling the driver
+-------------------
+
+Decks can have a memory that contains its name. In our case the hello
+driver would be initialised only when a deck identified as \"myHello\"
+is installed on the Crazyflie. For development purpose it is possible to
+force enabling a deck driver with a compile flag. To do so create the
+file tools/make/config.mk with the content:
+
+``` {.make}
+CFLAGS += -DDECK_FORCE=myHello
+
+DEBUG=1
+```
+
+DEBUG=1 allows to get more information from the Crazyflie console when
+it starts. Debug should not be enabled if you intend to fly the
+Crazyflie out of the lab (it disables the watchdog).
+
+**Note** Each time you modify config.mk you
+should recompile the full firmware by cleaning up the build folder with
+\'make clean\'
+
+Compile, flash and run!
+-----------------------
+
+Now the last step is to compile and flash your new firmware. Launch the
+following commands in a shell:
+
+``` {.bash}
+crazyflie-firmware$ make clean && make
+crazyflie-firmware$ make cload
+```
+
+The output will be similar to the following:
+
+``` {.bash}
+crazyflie-firmware$ make
+(...)
+  CC    hello.o
+(...)
+Build for the CF2 platform!
+Build 22:f8243162f727 (2020.04 +22) MODIFIED
+Version extracted from git
+Crazyloader build!
+Flash |  218132/1032192 (21%),  814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM   |   71564/131072  (55%),   59508 free | bss: 66456, data: 5108
+CCM   |   43528/65536   (66%),   22008 free | ccmbss: 43528, ccmdata: 0
+crazyflie-firmware$ make cload
+../crazyflie-clients-python/bin/cfloader flash cf2.bin stm32-fw
+Restart the Crazyflie you want to bootload in the next
+ 10 seconds ...
+ done!
+Connected to bootloader on Crazyflie 2.0 (version=0x10)
+Target info: nrf51 (0xFE)
+Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
+144 KBytes of flash available for firmware image.
+Target info: stm32 (0xFF)
+Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
+1008 KBytes of flash available for firmware image.
+
+Flashing 1 of 1 to stm32 (fw): 161867 bytes (159 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.........9
+Reset in firmware mode ...
+$
+```
+
+Now you can connect your Crazyflie with the client and see your driver
+in the console!
+
+![deck hello console](/docs/images/deckhelloconsole.png){:align-center}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/memory_management.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/memory_management.md
new file mode 100644
index 0000000000000000000000000000000000000000..c2c51f1d0b47c681a41407c1ccc396db7ac7fe2f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/memory_management.md
@@ -0,0 +1,79 @@
+---
+title: Memory management
+page_id: memory_management
+---
+
+The RAM is a limiting resource and has to be managed to be used as efficiently as possible.
+
+## Static VS dynamic allocation
+
+TBD
+
+## Static allocation
+
+Static allocation of RAM memory happens when a variable is declared on a global scope (variables
+declared in a function will end up on the stack). The actual allocation is done by the linker by
+reserving space in the memory map in the appropriate location.
+
+```
+int myStaticallyAllocatedVariable;
+static int myOtherStaticallyAllocatedVariable;
+
+void aFunction() {
+    int myVariableOnTheStack; // This ends up on the stack
+    ...
+}
+```
+
+Variables that are declared without an assignment will be set to zero at start up,
+while variables with an assignment will be initialized to that value. The
+values to use for initialized variables are stored in flash together with the
+code and is copied to RAM at start up.
+
+```
+int zeroInitialized;
+int initializedWithAValue = 17;
+```
+
+### RAM types
+
+The MCU in the Crazyflie has two types of RAM, "normal" RAM and CCM (Core Coupled Memory).
+The CCM and normal ram are attached to different buses internally which gives them
+different properties. The most significant difference is that the CCM can not be
+used for DMA transfers, since the DMA unit does not have access to the bus used by CCM. The
+normal RAM can be used for all types of tasks and should be used for normal development,
+further more this is also the memory that will be used when writing "normal" code.
+
+There is a fair amount of CCM in the system, and we want to use it to free up normal
+RAM. The over all strategy is to use CCM for system related memory chunks that we
+know will not be used for DMA, so that most users don't have to care about the
+properties of CCM.
+
+### Using the CCM
+
+*Warning:* Some drivers use DMA to communicate with sensors, it will not work
+to pass a pointer to CCM memory to such a driver.
+
+There is a set of macros in [static_mem.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/static_mem.h)
+that should be used to tell the compiler/linker to use the CCM. Note that only
+zero initialization is supported for CCM.
+
+```
+int variableInNormalRam;  // Initialized to 0
+int alsoVariableInNormalRam = 17;  // Initialize to 17
+NO_DMA_CCM_SAFE_ZERO_INIT int variableInCcm; // Initialized ot 0
+NO_DMA_CCM_SAFE_ZERO_INIT int dontDoThisInCcm = 17; // WARNING! Will not work, will be initialized to 0! Will be silently accepted without warning.
+````
+
+Queues allocated with the `STATIC_MEM_QUEUE_ALLOC` macro will be allocated in the
+CCM, all access to queue memory is done by copy and is safe.
+
+Tasks allocated using the `STATIC_MEM_TASK_ALLOC` macro will allocate the
+system buffers in CCM but the task stack in normal RAM. If no pointers
+to stack memory will be used for DMA transfers, it is possible to
+also allocate the stack in CCM by using the `STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE()`
+macro instead.
+
+Code that uses DMA through a public API should verify verify that pointers
+passed in through the API do not point to CCM. Use `ASSERT_DMA_SAFE` for this
+pupose to fail fast and indicate what the reason for the failued is.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/oot.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/oot.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb9c40d8c305ab0cdd81a2afb6585e11d047eca5
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/oot.md
@@ -0,0 +1,33 @@
+---
+title: Out of tree build
+page_id: oot
+---
+
+It is possible to have an out-of-tree build of parts of the crazyflie firmware. This enables developers to work on elements without worrrying about merging it with the full code base. 
+
+# App layer.
+Technically the app layer is an example of an out of tree build. Follow the [app layer intructions](/docs/userguides/app_layer.md) for this.
+
+# OOT extimators
+In a seperate folder make a Makefile which contain the following content:
+
+```
+CFLAGS += -DOOT_ESTIMATOR
+
+VPATH += src/
+PROJ_OBJ += estimator_out_of_tree.o
+
+CRAZYFLIE_BASE=[LOCATION OF THE CRAZYFLIE FIRMWARE]
+include $(CRAZYFLIE_BASE)/Makefile
+```  
+
+in [your_estimator_out_of_tree].c in the src folder you will just need to make sure that the following functions are filled:
+
+* ```init = estimatorOutOfTreeInit```
+* ```test = estimatorOutOfTreeTest```
+* ```update = estimatorOutOfTree```
+* ```name = "OOT```
+
+# OOT Controllers
+
+Not yet implemented. Please request this feature in the [crazyflie-firmware issue list](https://github.com/bitcraze/crazyflie-firmware/issues)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/openocd_gdb_debugging.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/openocd_gdb_debugging.md
new file mode 100644
index 0000000000000000000000000000000000000000..dbeadeb6b9a6305624e81145a266c566139cfeec
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/openocd_gdb_debugging.md
@@ -0,0 +1,233 @@
+---
+title: On-chip debugging
+page_id: openocd_gdb_debugging
+---
+
+One of the key components of getting really serious about developing on
+the crazyflie, is to dive into the C-based firmware. If you really want
+to do some major changes to the intrinsic of the code, it is essential
+to have proper tools to be able to debug the code (place breakpoints,
+read real-time values ect\...). On this page, we will put a few examples
+how to do this with IDE\'s and different environments.
+
+> **_NOTE:_**
+> This page requires our debug adapter and ST Link V2 Debugger! See
+> this page: [Debug adapter](https://wiki.bitcraze.io/projects:crazyflie2:debugadapter:index)
+
+## Debugging using VS Code
+
+Thanks to the [Cortex-Debug](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug) extension, it is now easily possible to debug ARM executables straight inside of VS Code!
+
+### Mac OS and Ubuntu
+
+#### Prerequisites
+
+First ensure that you have the ARM GCC toolchain and OpenOCD installed and in your path. To check, run:
+
+    which openocd
+    which arm-none-eabi-gcc
+
+The path to your OpenOCD binary and ARM GCC binary should output. If not, try installing them again.
+
+##### Ubuntu
+
+These steps have been tested on Ubuntu 20.04. The link to gdb-multiarch is required because Ubuntu does not ship arm-none-eabi-gdb anymore, but the new gdb-multiarch that supports all architecture.
+
+    sudo apt-get install openocd
+    sudo apt-get install gcc-arm-none-eabi gdb-multiarch
+    sudo ln -s /usr/bin/gdb-multiarch /usr/local/bin/arm-none-eabi-gdb
+
+If you do not have vscode yet, the easiest way to install it on Ubuntu is via snap using 'Ubuntu Software' of by typing:
+
+    sudo snap install --classic code
+
+
+##### Mac OS
+
+    brew install open-ocd
+    brew tap PX4/homebrew-px
+    brew install arm-none-eabi-gcc
+
+### The Cortex Debug Extension
+
+Install the [extension](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug) either by clicking "Install" on the web page, or by searching "Cortex Debug" in the Extensions tab of VS Code.
+
+Click on "Run", then "Add Configuration", then "Cortex Debug".
+
+![VS Code add configuration](/docs/images/vscode_add_configuration.webp)
+
+This should automatically create the needed "launch.json" file.
+
+### Configuring Cortex Debug
+
+Inside of the file, replace everything with the following:
+
+    {
+        // Use IntelliSense to learn about possible attributes.
+        // Hover to view descriptions of existing attributes.
+        // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+        "version": "0.2.0",
+        "configurations": [
+            {
+                "name": "Cortex Debug",
+                "cwd": "${workspaceRoot}",
+                "executable": "./cf2.elf",
+                "request": "launch",
+                "type": "cortex-debug",
+                "device": "STM32F405",
+                "svdFile": "STM32F405.svd",
+                "servertype": "openocd",
+                "configFiles": ["interface/stlink-v2.cfg", "target/stm32f4x.cfg"],
+                "runToMain": true,
+                "preLaunchCommands": [
+                    "set mem inaccessible-by-default off",
+                    "enable breakpoint",
+                    "monitor reset"
+                ]
+            }
+        ]
+    }
+
+### Explaining the Cortex Debug configuration
+
+- "svdFile" refers to the necessary file for peripheral registers to show up nicely in the debug pane, all named and structured; we'll add it in the next step
+- "configFiles" refers to the files you need so that OpenOCD knows what device and interface you're using; it should already come with them
+- "runToMain" tells the GDB debug server to jump to main by default
+- "preLaunchCommands" specifies the commands for the GDB server to send before giving away control to you; the commands here mimic the options that the above tutorial for Eclipse specifies
+
+### Installing the SVD file
+
+Now for the SVD file: just download it from [here](https://raw.githubusercontent.com/posborne/cmsis-svd/master/data/STMicro/STM32F405.svd) and into your root directory. Make sure it has the exact name of "STM32F405.svd"!
+
+### Debugging!
+
+After all this, go to the Debug tab of VS Code (on the left sidebar, the icon with the little bug next to the play button), and hit that play button next to "Run"!
+
+If you followed everything, it should start running nicely and look a little something like this:
+
+![VS Code Cortex Debug](/docs/images/vscode_cortex_debug.webp)
+
+Notice the nice peripherals pane at the bottom, along with the variables pane at the top. Awesome, now you can code _and_ debug all within VS Code!
+
+---
+
+## Debugging using eclipse
+
+### Ubuntu
+
+> **_Versions:_**
+>
+> - Ubuntu 18.04.2 LTS (64 bit)
+> - Eclipse 2019-03 (Eclipse IDE for C/C++ Developers)
+
+#### Installing prerequisites
+
+First install GDB and openOCD:
+
+    sudo apt-get update
+    sudo apt-get install gdb
+    sudo apt-get install openocd
+
+Then install java:
+
+    sudo apt install default-jre
+
+Then install eclipse itself: Go to their download page: [eclipse
+20](https://www.eclipse.org/downloads/download.php?file=/technology/epp/downloads/release/2019-03/R/eclipse-cpp-2019-03-R-linux-gtk-x86_64.tar.gz)
+and then go into you download folder and unzip the file.
+
+    tar -zxvf "your-downloaded-file".tar.gz
+
+and start up eclipse:
+
+    "YOUR-UNZIPPED-FOLDER"/.eclipse
+
+#### Installing required Eclipse Plugins
+
+Install the C++ development tools and GNU MCU plugin by following the
+instructions [here](https://gnu-mcu-eclipse.github.io/plugins/install/).
+
+- C++ Development - Follow the instructions under the header \'CDT\'.
+- GNU MCU plugin - Follow the instructions under the header \'Plug-ins
+  install/update -\> The Eclipse Marketplace way\'
+
+#### Import Crazyflie Firmware
+
+First import the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware)
+into eclipse:
+
+- File > import...
+- C/C++ > Existing Code as Makefile Project -> Next
+- Give it a name
+- Existing Code Location > Browse... > //Look for the firmware folder//
+- //Toolchain for Indexer Settings// can be ignored.
+- Finish
+
+#### Setting up Eclipse Debugging environment
+
+- Go to: Run \> Debug Configurations\...
+- Double click \'GDB OpenOCD Debugging\'
+
+Now input the following settings in the debug configurations:
+
+##### Main
+
+![stm openocd main](/docs/images/stm_openocd_main.png)
+
+Insert the filepath to the cf2.elf file to _C/C++ Application_.
+
+##### Debugger
+
+![stm openocd debug](/docs/images/stm_openocd_debugger.png)
+
+check the following settings: OpenOCD setup -\> Config options: \<code\>
+-f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c targets
+\</code\> GDB Client Setup:
+
+- Executable name: Filepath to gdb toolchain
+- Commands: \<code\> set mem inaccessible-by-default off \</code\>
+
+##### Startup
+
+![stm openocd startup](/docs/images/stm_openocd_startup.png)
+
+##### Hit Debug!
+
+If you don\'t see any errors, eclipse should go to an dedicated
+debugging environment automatically and it automatically halts the
+crazyflie\'s firmware before it goes into the main function of
+src/init/main.c. Press F8 or Run \> Resume to let it continue and place
+a breakpoints anywhere in the code (double clicking just in front of the
+line in the gray area or press Shift+Ctrl+B). Now you should be able to
+read out the values of the defined variables at that very position.
+
+---
+
+Make sure that your cf2.elf is the
+same as the one you uploaded to the crazyflie!
+
+---
+
+### Mac OS
+
+Install gdb and openocd
+
+    brew install gdb
+    brew install open-ocd
+
+Install java JDK [java
+download](https://www.oracle.com/technetwork/java/javase/downloads/index.html)
+
+Download eclipse [eclipse
+download](https://www.eclipse.org/downloads/download.php?file=/oomph/epp/2019-06/R/eclipse-inst-mac64.dmg)
+
+Choose destination folders - Install
+
+Run eclipse and choose work folder
+
+##### Installing required eclipse Plugins
+
+The rest is the same as for Linux. Make sure that the arm-none-eabi-gcc
+is properly installed and its path is configured in the _debug
+configurations_.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/serial.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/serial.md
new file mode 100644
index 0000000000000000000000000000000000000000..323f06bf3ef5e3aaa021e084fa36420e89f40746
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/serial.md
@@ -0,0 +1,45 @@
+---
+title: Getting the serial number of the Crazyflie 2.X
+page_id: serial
+---
+
+The Crazyflie 2.X ID is a character string of 24 characters. It is
+unique to each Crazyflie 2.X.
+
+Windows
+-------
+
+-   Open the \"Device manager\" and find the Crazyflie 2.0/2.1.
+-   Right click on Crazyflie 2.0/2.1, go in \"Properties\" then in the
+    tab \"Details\".
+-   In the drop-box select \"Device instance path\".
+
+The serial number is located just after \"5740\\\", in the following
+screen it starts by 41:
+
+![windows serial](/docs/images/windows_serial.png){:width=500x}
+
+By right-clicking on the string you can copy it.
+
+Linux
+-----
+
+Open a terminal and type (ie. cop-paste) the following command:
+
+    sudo lsusb -v -d 0483:5740 | grep iSerial
+
+The Crazyflie serial is then displayed (here it starts by 41):
+
+![linux serial](/docs/images/linux_serial.png)
+
+Mac OS X
+--------
+
+From the \"About this mac\" menu, click on \"System reports\...\"
+
+![mac serial](/docs/images/mac_serial_about.png){:width=400px}
+
+Then click on \"USB\", locate the Crazyflie 2 and the serial number can
+be copied from there
+
+![mac serial 2](/docs/images/mac_serial.png){:width=500px}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/starting_development.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/starting_development.md
new file mode 100644
index 0000000000000000000000000000000000000000..acdee99efbeb5db592211b08cffafd61e2d16ce1
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/starting_development.md
@@ -0,0 +1,54 @@
+---
+title: Development for STM32
+page_id: starting_development
+---
+
+This page aims at documenting how to start developing with Crazyflie.
+This document should work for the Crazyflie 2.X.
+
+
+### STM32
+
+Clone the crazyflie-firmware project, or update it using the virtual
+machine \"Update all projects\" script. For Crazyflie 2.X make sure the current branch is \"**master**.\"
+
+    ~$ cd projects/crazyflie-firmware/
+    crazyflie-firmware$ git checkout master
+
+And make sure the `submodules` are up-to-date.
+
+```
+crazyflie-firmware$ git submodule init
+crazyflie-firmware$ git submodule update
+```
+
+Then make the firmware.
+
+For **Crazyflie 2.X**:
+
+```
+crazyflie-firmware$ make PLATFORM=cf2
+(...)
+  DFUse cf2.dfu
+Build for the CF2 platform!
+Build 00:00000000 (20XX.XX.X-XX) CLEAN
+Version extracted from git
+Crazyloader build!
+Flash |  218132/1032192 (21%),  814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM   |   71564/131072  (55%),   59508 free | bss: 66456, data: 5108
+CCM   |   43528/65536   (66%),   22008 free | ccmbss: 43528, ccmdata: 0
+```
+
+To program using the radio bootloader, first install the cflib and cfclient, and put the CF2.X in bootloader mode:
+
+
+For **Crazyflie 2.X**:
+```
+    crazyflie-firmware$ make cload
+```
+
+From command line the flash make target flashed the firmware using
+programming cable
+```
+    crazyflie-firmware$ make flash
+```
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/systemtask.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/systemtask.md
new file mode 100644
index 0000000000000000000000000000000000000000..790d06e2bd2b90ddacc815dc7fd2fbdcd33acfb1
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/systemtask.md
@@ -0,0 +1,301 @@
+---
+title: Adding a new system task
+page_id: systemtask
+---
+
+**First check out if you can use the [new app layer](/docs/userguides/app_layer.md), which might be enough for your purpose already**
+
+
+This howto describes how to create a new system task.
+A FreeRTOS task is similar to a thread on a standard operating system.
+It has its own function call stack, and can be preempted by the RTOS scheduler.
+Typical hazards and techniques of shared-memory multithreaded programming apply.
+
+A new task is most often needed when adding a fundamentally new subsystem
+to the Crazyflie firmware.
+
+If the new subsystem needs to do
+significant computation in response to inputs such as CRTP radio messages, it
+should receive those inputs on a queue and perform the computation within
+its own task instead of blocking the radio task.
+In this example, we will set up the skeleton for such a new subsystem.
+
+
+
+Development environment
+-----------------------
+
+You should have the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware) and
+[crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python)
+cloned in the same folder. If you are using the [Bitcraze
+VM](https://github.com/bitcraze/bitcraze-vm) this is already the case.
+
+The Crazyflie firmware should be on Master branch.
+
+For the rest of the howto you will work in the crazyflie-firmware
+project.
+
+
+Setting the task constants
+--------------------------
+
+Each task has a few constants that are stored globally in `src/config/config.h`.
+
+First, set the task priority. The FreeRTOS scheduler always prefers to run
+a higher-priority task. High priorities should be reserved for very
+time-sensitive tasks like the main stabilizer loop.
+
+In `config.h`, after the existing task priorities, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_PRI        1
+```
+
+Next, each task has a name.
+In `config.h`, after the existing task names, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_NAME       "EXAMPLE"
+```
+
+Finally, we must select a fixed size for the task's function call stack.
+`configMINIMAL_STACK_SIZE` gives a fairly small stack.
+Tasks that do lots of computation will almost certainly need larger stacks.
+
+In `config.h`, after the existing task stack sizes, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+```
+
+
+Implementing the task
+---------------------
+
+High level tasks (those that do not directly talk to hardware) usually go in
+the `modules` directory. We will walk through the sections needed in a
+new file `src/modules/src/example.c`.
+
+
+First, include the necessary system header files:
+
+``` {.c}
+#include "config.h"
+#include "debug.h"
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "static_mem.h"
+#include "task.h"
+```
+
+### File-static variables
+
+Next, we statically allocate the queue to hold inputs from
+other parts of the system such as the radio.
+Here we just hold integers in the queue. Often it will be a struct instead.
+A queue of length 1 is appropriate if new inputs supersede old ones.
+For example, if the input controls the current LED color,
+we do not care which other colors were requested in the past.
+
+Note that the `STATIC_MEM_*_ALLOC` family of macros expand to static
+variable declarations, and can be used outside of any function scope.
+
+``` {.c}
+static xQueueHandle inputQueue;
+STATIC_MEM_QUEUE_ALLOC(inputQueue, 1, sizeof(int));
+```
+
+
+Next, we allocate the task call stack and other necessary memory for OS
+bookkeeping.
+The FreeRTOS task API requires that task functions take a `void *` argument.
+
+``` {.c}
+static void exampleTask(void*);
+STATIC_MEM_TASK_ALLOC(exampleTask, EXAMPLE_TASK_STACKSIZE);
+```
+
+### Functions
+
+Next, we implement the `Init()` function.
+This should contain all of the FreeRTOS allocations and initializations
+that need to last as long as the firmware is running.
+Note the use of the constants we defined in `config.h`.
+Later in this howto, we will need to edit another file to call the `Init()`.
+
+``` {.c}
+static bool isInit = false;
+
+void exampleTaskInit() {
+  inputQueue = STATIC_MEM_QUEUE_CREATE(inputQueue);
+  // TODO
+  STATIC_MEM_TASK_CREATE(exampleTask, exampleTask, EXAMPLE_TASK_NAME, NULL, EXAMPLE_TASK_PRI);
+  isInit = true;
+}
+```
+
+Next, we implement the `Test()` function.
+Usually this does not do much, besides verify that `Init()` has been called.
+Later in this howto, we will need to edit another file to call the `Test()`.
+
+``` {.c}
+bool exampleTaskTest() {
+  return isInit;
+}
+```
+
+
+Now we come to the main task function.
+It is usually an infinite loop that waits on inputs from something.
+In our case, we wait on inputs from the queue.
+Our `xQueueReceive` uses the special timeout value `portMAX_DELAY`, which means
+that the `xQueueReceive` call will (potentially) block forever and only return
+when the queue is not empty.
+Other tasks will use integer or zero timeout values
+if they have some work to do regardless of whether or not inputs are received.
+
+``` {.c}
+static void exampleTask(void* parameters) {
+  DEBUG_PRINT("Example task main function is running!");
+  while (true) {
+    int input;
+    if (pdTRUE == xQueueReceive(inputQueue, &input, portMAX_DELAY)) {
+      // Respond to input here!
+    }
+  }
+}
+```
+
+
+Finally, we implement the public function that is called by other parts of the
+system to pass inputs to our new subsystem.
+
+`xQueueOverwrite` specifies that, if the queue is full, we overwrite the
+existing contents instead of blocking on the queue's consumer to remove
+an item from the other end of the queue.
+In subsystems where we do not want to throw away inputs from the queue,
+use the `xQueueSend*` family instead.
+
+Subsystems should not expose their queues directly.
+It should always be wrapped in a function, like this.
+
+``` {.c}
+void exampleTaskEnqueueInput(int value) {
+  xQueueOverwrite(inputQueue, &value);
+}
+```
+
+See [the FreeRTOS docs](https://freertos.org/Embedded-RTOS-Queues.html)
+for more details on the many `xQueue` API functions available.
+
+> **Design Note:** For complex subsystems, consider implementing the
+> algorithmic core as a library that does not depend on FreeRTOS- and
+> ARM-related headers, and calling this library from your task.
+> This makes it easier to write unit tests for your algorithmic core
+> that can be compiled, run, and debugged on a PC.
+
+
+Writing the public interface
+----------------------------
+
+Subsystems should expose a public interface to other parts of the firmware
+that hide implementation details as much as is practical.
+We create the new file in `src/modules/interface/example.h`:
+
+``` {.c}
+#pragma once
+
+#include <stdbool.h>
+
+void exampleTaskInit();
+bool exampleTaskTest();
+
+void exampleTaskEnqueueInput(int value);
+```
+
+In a real task, make sure to comment the public API thoroughly.
+
+
+Initializing the task
+---------------------
+
+In `src/modules/src/system.c`, make the following changes.
+
+Include the header for our new task:
+
+``` {.c}
+#include "example.h"
+```
+
+
+In `systemTask()`, after the lines where the other `Init()` functions
+are called, add the line
+
+``` {.c}
+exampleTaskInit();
+```
+
+
+In `systemTask()`, after the lines where the other `pass &= ...Test()` lines,
+add the line
+``` {.c}
+pass &= exampleTaskTest();
+```
+
+
+Adding the task to the build
+----------------------------
+
+Add this to the Makefile, after the end of the `Modules` block:
+
+``` {.make}
+PROJ_OBJ += example.o
+```
+
+
+Compile, flash and run!
+-----------------------
+
+Now the last step is to compile and flash your new firmware. Launch the
+following commands in a shell:
+
+``` {.bash}
+crazyflie-firmware$ make
+crazyflie-firmware$ make cload
+```
+
+The output will be similar to the following:
+
+``` {.bash}
+crazyflie-firmware$ make
+(...)
+  CC    hello.o
+(...)
+Build for the CF2 platform!
+Build 22:f8243162f727 (2020.04 +22) MODIFIED
+Version extracted from git
+Crazyloader build!
+Flash |  218132/1032192 (21%),  814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM   |   71564/131072  (55%),   59508 free | bss: 66456, data: 5108
+CCM   |   43528/65536   (66%),   22008 free | ccmbss: 43528, ccmdata: 0
+crazyflie-firmware$ make cload
+../crazyflie-clients-python/bin/cfloader flash cf2.bin stm32-fw
+Restart the Crazyflie you want to bootload in the next
+ 10 seconds ...
+ done!
+Connected to bootloader on Crazyflie 2.0 (version=0x10)
+Target info: nrf51 (0xFE)
+Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
+144 KBytes of flash available for firmware image.
+Target info: stm32 (0xFF)
+Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
+1008 KBytes of flash available for firmware image.
+
+Flashing 1 of 1 to stm32 (fw): 161867 bytes (159 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.........9
+Reset in firmware mode ...
+$
+```
+
+Now you can connect your Crazyflie with the client and see the
+"Example task main function is running!" in the debug console.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/unit_testing.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/unit_testing.md
new file mode 100644
index 0000000000000000000000000000000000000000..a1af90748b285b5d3e2b8fc049955092d2212d34
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/development/unit_testing.md
@@ -0,0 +1,46 @@
+---
+title: Unit testing
+page_id: unit_testing
+---
+
+## Dependencies
+
+Frameworks for unit testing and mocking are pulled in as git submodules.
+
+The testing framework uses ruby and `rake` as well as `libasan` (AddressSanitizer) to generate and run code.
+If you run the tests on your own machine you will have to install them.
+
+To minimize the need for installations and configuration, use the docker builder
+image (bitcraze/builder) that contains all tools needed. All scripts in the 
+tools/build directory are intended to be run in the image. The 
+[toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.
+
+
+## Running all unit tests
+    
+With the environment set up locally
+
+        make unit
+        
+with the docker builder image and the toolbelt
+
+        tb make unit
+        
+## Running one unit test
+       
+When working with one specific file it is often convenient to run only one unit test
+       
+       make unit FILES=test/utils/src/test_num.c
+
+or with the toolbelt        
+
+       tb make unit FILES=test/utils/src/test_num.c
+              
+## Running unit tests with specific build settings
+      
+Defines are managed by make and are passed on to the unit test code. Use the 
+normal ways of configuring make when running tests. For instance to run test
+for Crazyflie 1
+
+      make unit LPS_TDOA_ENABLE=1
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_commander.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_commander.md
new file mode 100644
index 0000000000000000000000000000000000000000..7879cd652408e2a5f2f57dd9c73fdc74985c2c70
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_commander.md
@@ -0,0 +1,24 @@
+---
+title: Commander
+page_id: crtp_commander
+---
+
+The commander port is used to send control set-points for the
+roll/pitch/yaw/thrust regulators from the host to the Crazyflie. As soon
+as the communication link has been established these packets can be sent
+and the values are valid until the next packet is received.
+
+Communication protocol
+--------------------
+
+            +-------+-------+-------+-------+
+            | ROLL  | PITCH |  YAW  |THRUST |
+            +-------+-------+-------+-------+
+    Length      4       4       4       2      bytes
+
+|  Name    | Byte  |  Size  | Type       | Comment|
+|  --------| -------| ------| -----------| ----------------------|
+|  ROLL    | 0-3    | 4     | float      | The pitch set-point|
+|  PITCH   | 4-7    | 4     | float      | The roll set-point|
+|  YAW     | 8-11   | 4     | float      | The yaw set-point|
+|  THRUST  | 12-13  | 2     | uint16\_t  | The thrust set-point|
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_console.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_console.md
new file mode 100644
index 0000000000000000000000000000000000000000..f61ccb58294dab8f394681e1ae210633dd831fc3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_console.md
@@ -0,0 +1,23 @@
+---
+title: Console
+page_id: crtp_console
+---
+
+This port is used as a one-way text console for printing text from the
+Crazyflie to a host using the consoleprintf function.
+
+Communication protocol
+======================
+
+    Answer (Crazyflie to host):
+            +---------//-----------+
+            | PRINTED CONSOLE TEXT |
+            +---------//-----------+
+    Length          0-31
+
+The contents of the buffer on the copter side is sent if any of the
+following is fulfilled:
+
+-   The output buffer (of 31 bytes) is full
+-   A \"newline\" character has to be send (\\n and/or \\r)
+-   A flush command as been issued
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_generic_setpoint.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_generic_setpoint.md
new file mode 100644
index 0000000000000000000000000000000000000000..be7189b62e4860614c7613dc66be57e6efa443bf
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_generic_setpoint.md
@@ -0,0 +1,179 @@
+---
+title: Generic Setpoint CRTP Port
+page_id: crtp_generic_setpoint
+---
+
+
+This port allows to send setpoints to the platform. The philosophy is to
+be able to define setpoint packet format for each different use-case. As
+such this is a generic port that has one channel and one main packet
+format:
+
+|  Port  | Channel  | Name|
+|  ------| ---------| --------------------------------------------------|
+|  7     | 0        | [Generic setpoint](#generic-setpoint)|
+
+Generic setpoint
+----------------
+
+Generic setpoint packet format:
+
+|  Byte  | Value    | Note|
+|  ------| ---------| ---------------------------|
+|  0      |ID       | ID of the setpoint packet|
+|  1..   | Payload  | Format defined per ID|
+
+Defined IDs:
+
+ | ID  | Type|
+ | ----| -----------------------------------------------------------------------|
+ | 0   | [stop](#stop)|
+ | 1   | [Velocity World](#velocity-world)|
+  |2   | [Z Distance](#z-distance)|
+ | 3   | [CPPM Emulation](#cppm-emulation)|
+ | 4   | [Altitude Hold](#altitude-hold)|
+ | 5   | [Hover](#hover)|
+ | 6   | [Full State](#full-state)|
+ | 7   | [Position](#position)|
+
+### Stop
+
+This is a setpoint with no payload that stops the motors and disables
+the control loops. Should be sent when the Crazyflie is landed.
+
+### Velocity World
+
+Velocity setpoint in the world coordinate together with a YAW rotation
+speed. Useful for a teleop mode in a local positioning system.
+
+Payload format:
+
+``` {.c}
+struct velocityPacket_s {
+  float vx;        // m in the world frame of reference
+  float vy;        // ...
+  float vz;        // ...
+  float yawrate;  // deg/s
+} __attribute__((packed));
+```
+
+### Z Distance
+
+Set the Crazyflie absolute height and roll/pitch angles. Used for
+Z-ranger.
+
+Payload format:
+
+``` {.c}
+struct zDistancePacket_s {
+  float roll;            // deg
+  float pitch;           // ...
+  float yawrate;         // deg/s
+  float zDistance;        // m in the world frame of reference
+} __attribute__((packed));
+```
+
+### CPPM Emulation
+
+CRTP packet containing an emulation of CPPM channels Channels have a
+range of 1000-2000 with a midpoint of 1500 Supports the ordinary RPYT
+channels plus up to MAX\_AUX\_RC\_CHANNELS auxiliary channels. Auxiliary
+channels are optional and transmitters do not have to transmit all the
+data unless a given channel is actually in use (numAuxChannels must be
+set accordingly)
+
+Current aux channel assignments:
+
+-   AuxChannel0: set high to enable self-leveling, low to disable
+
+Payload format:
+
+``` {.c}
+#define MAX_AUX_RC_CHANNELS 10
+
+static float s_CppmEmuRollMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuPitchMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuRollMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuPitchMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuYawMaxRateDps = 400.0f; // Used regardless of flight mode
+
+struct cppmEmuPacket_s {
+  struct {
+      uint8_t numAuxChannels : 4;   // Set to 0 through MAX_AUX_RC_CHANNELS
+      uint8_t reserved : 4;
+  } hdr;
+  uint16_t channelRoll;
+  uint16_t channelPitch;
+  uint16_t channelYaw;
+  uint16_t channelThrust;
+  uint16_t channelAux[MAX_AUX_RC_CHANNELS];
+} __attribute__((packed));
+```
+
+### Altitude Hold
+
+Set the Crazyflie vertical velocity and roll/pitch angle.
+
+Payload format:
+
+``` {.c}
+struct altHoldPacket_s {
+  float roll;            // rad
+  float pitch;           // ...
+  float yawrate;         // deg/s
+  float zVelocity;       // m/s in the world frame of reference
+} __attribute__((packed));
+```
+
+### Hover
+
+Set the Crazyflie absolute height and velocity in the body coordinate
+system.
+
+Payload format:
+
+``` {.c}
+struct hoverPacket_s {
+  float vx;           // m/s in the body frame of reference
+  float vy;           // ...
+  float yawrate;      // deg/s
+  float zDistance;    // m in the world frame of reference
+} __attribute__((packed));
+```
+
+### Full State
+
+Set the full state.
+
+Payload format:
+
+``` {.c}
+struct fullStatePacket_s {
+  int16_t x;         // position - mm
+  int16_t y;
+  int16_t z;
+  int16_t vx;        // velocity - mm / sec
+  int16_t vy;
+  int16_t vz;
+  int16_t ax;        // acceleration - mm / sec^2
+  int16_t ay;
+  int16_t az;
+  int32_t quat;      // compressed quaternion, see quatcompress.h
+  int16_t rateRoll;  // angular velocity - milliradians / sec
+  int16_t ratePitch; //  (NOTE: limits to about 5 full circles per sec.
+  int16_t rateYaw;   //   may not be enough for extremely aggressive flight.)
+} __attribute__((packed));
+```
+
+#### Position
+
+Set the absolute postition and orientation.
+
+``` {.c}
+ struct positionPacket_s {
+   float x;     // Position in m
+   float y;
+   float z;
+   float yaw;   // Orientation in degree
+ } __attribute__((packed));
+```
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_localization.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_localization.md
new file mode 100644
index 0000000000000000000000000000000000000000..ae93e3c3b97da0617f023c8b7869730e65dee545
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_localization.md
@@ -0,0 +1,74 @@
+---
+title: Localization CRTP port
+page_id: crtp_localizaton
+---
+
+
+This port groups various packets related to localization. It exposes two
+channels:
+
+ | Port  | Channel  | Name|
+ | ------| ---------| ----------------------|
+ | 6     | 0        | External Position|
+ | 6     | 1        | Generic localization|
+
+External Position
+-----------------
+
+This packet is used to send the Crazyflie position as acquired by an
+external system. The main use it to send the position acquired by a
+motion capture system to push it in the Extended Kalman Filter to allow
+the Crazyflie to calculate an estimate and control its state.
+
+The packet format is:
+
+``` {.c}
+struct CrtpExtPosition
+{
+  float x; // in m
+  float y; // in m
+  float z; // in m
+} __attribute__((packed));
+```
+
+Generic Localization
+--------------------
+
+This channel intends to host packets useful for the localization
+subsystem. It has been created to serve the Loco Positioning System
+packets but can be used for more general things like GPS NMEA or binary
+streams. The format of the packet is:
+
+|  Byte  | Value    | Note|
+|  ------| ---------| ---------------------------------------|
+|  0     | ID       | ID of the packet|
+ | 1..   | Payload  | Packet payload. Format defined per ID|
+
+|  ID  | Packet |
+|  ----| ------------------------------|
+|  2  |  LPP Short packet tunnel|
+|  3  |  Enable emergency stop|
+|  4  |  Reset emergency stop timeout|
+
+### LPP Short packet tunnel
+
+Packet used to send LPP short packet to the loco positioning system. The
+payload is sent to the sytem as an [LPP Short
+Packet](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/lpp/).
+
+### Emergency stop
+
+When received, the stabilizer loop is set in emergency stop mode which
+stops all the motors. The loop stays in emergency stop mode until the
+situation is reset.
+
+### Reset emergency stop timeout
+
+At startup the emergency stop timeout is disabled.
+
+The first time this packet is receive, the emergency stop timeout is
+enabled with a timeout of 1 second.
+
+This packet should then be sent, and received by the Crazyflie, at least
+once every 1 second otherwise the stabilizer loop will be set in
+emergency stop and all motors will stop.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_log.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_log.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a1945e8e0ce0ae4cdefedf78904b435c9b10347
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_log.md
@@ -0,0 +1,152 @@
+---
+title: Logging
+page_id: crtp_log
+---
+
+For more information on how to use this and how this is implemented have
+a look [here](/docs/userguides/logparam.md).
+
+State machines
+==============
+
+Downloading the Table Of Contents
+---------------------------------
+
+![crtp log](/docs/images/crtp_log.png)
+
+Communication protocol
+======================
+
+The log port is separated in 3 channels:
+
+ | **Port**  | **Channel**  | **Function**|
+ | ----------| -------------| ------------------
+|  5         | 0            | Table of content access: Used for reading out the TOC|
+|  5         | 1            | Log control: Used for adding/removing/starting/pausing log blocks|
+|  5         | 2            | Log data: Used to send log data from the Crazyflie to the client|
+
+Table of content access
+-----------------------
+
+This channel is used to download the Table Of Contents that contains all
+the variables that are available for logging and what types they are.
+
+The first byte of each messages correspond a command. All communication
+on this port are initated by the client and all answer from the copter
+will contain the same command byte.
+
+|  TOC command byte   |Command    | Operation|
+|  ------------------ |----------- |-----------------------------|
+|  0                  |GET\_ITEM  | Get an item from the TOC|
+|  1                  |GET\_INFO  | Get information about the TOC and the LOG subsystem| implementation
+
+### Get TOC item
+
+The GET\_ITEM TOC command permits to retrieved the log variables name,
+group and types from the copter. This command is intended to be
+requested from all the ID from 0 to LOG\_LEN (see GET\_INFO).
+
+    Request (PC to Copter):
+            +--------------+----+
+            | GET_ITEM (0) | ID |
+            +--------------+----+
+    Length         1         1
+
+    Answer (Copter to PC):
+            +--------------+----+
+            | GET_ITEM (0) | ID |                                        If index out of range
+            +--------------+----+------+------------+--------------+
+            | GET_ITEM (0) | ID | Type |   Group    |     Name     |     If returning Item
+            +--------------+----+------+------------+--------------+
+    Length        1          1     1    < Null terminated strings >
+
+ | Byte   |Request fields  | Content|
+ | ------| ---------------- |------------------------|
+ | 0     | GET\_ITEM       | At 0 for GET\_ITEM operation|
+ | 1     | ID              | ID of the item to be retrieved. The variables are numbered from 0 to LOG\_LEN (see GET\_INFO command)|
+
+|  Byte  | Answer fields  | Content|
+|  ------| ---------------| -------------------------------------------------------|
+|  0     | GET\_ITEM      | 0 for GET\_ITEM operation|
+|  1     | ID             | ID of the item returned|
+|  2     | Type           | Variable type of the element. See variable types list|
+|  3..   | Group          | Null-terminated string containing variable group|
+|  ..    | Name           | Null-terminated string containing the variable name|
+
+Type, group and name are not sent if the required ID is higher than
+TOC\_LEN-1.
+
+### Get Info
+
+The get info command is intended to be requested first when connecting
+to the copter. This permits to know the number of variable, the
+limitations of the log implementation and the fingerprint of the log
+variables.
+
+    Request (PC to Copter):
+            +--------------+
+            | GET_INFO (1) |
+            +--------------+
+    Length         1
+
+    Answer (Copter to PC):
+            +--------------+---------+---------+-----------------+-------------+
+            | GET_INFO (1) | LOG_LEN | LOG_CRC |  LOG_MAX_PACKET | LOG_MAX_OPS |
+            +--------------+---------+---------+-----------------+-------------+
+    Length        1             1         4             1               1
+
+ | Byte   |Request fields  | Content|
+ | ------ |----------------| ------------------------------|
+ | 0      |GET\_INFO       | At 1 for GET\_INFO operation|
+
+|  Byte  | Answer fields     | Content|
+|  ------| ------------------| ----------------------------------------------------------|
+|  0     | GET\_INFO        |  1 for GET\_INFO operation|
+|  1     | LOG\_LEN         |  Number of log items contained in the log table of content|
+|  2     | LOG\_CRC         |  CRC values of the log TOC memory content. This is a fingerprint of the copter build that can be used to cache the TOC|
+|  6     | LOG\_MAX\_PACKET  | Maximum number of log packets that can be programmed in the copter|
+ | 7     | LOG\_MAX\_OPS     | Maximum number of operation programmable in the copter. An operation is one log variable retrieval programming|
+
+Log control
+-----------
+
+The log control channel permits to setup, activate, deactivate and
+remove log packets. Like the TOC access channel the first data byte
+represents a command.
+
+|  Control command byte  | Command        | Operation|
+|  ----------------------| ---------------| ---------------------------------------|
+|  0                     | CREATE\_BLOCK  | Create a new log block|
+|  1                     | APPEND\_BLOCK  | Append variables to an existing block|
+|  2                     | DELETE\_BLOCK  | Delete log block|
+|  3                     | START\_BLOCK   | Enable log block transmission|
+|  4                     | STOP\_BLOCK    | Disable log block transmission|
+|  5                     | RESET          | Delete all log blocks|
+
+### Create block
+
+### Append variable to block
+
+### Delete block
+
+### Start block
+
+### Stop block
+
+Log data
+--------
+
+The log data channel is used by the copter to send the log blocks at the
+programmed rate. The packet format is
+
+    Answer (Copter to PC):
+            +----------+------------+---------//----------+
+            | BLOCK_ID | TIME_STAMP | LOG VARIABLE VALUES |
+            +----------+------------+---------//----------+
+    Length        1          3           0 to 26
+
+ | Byte  | Answer fields        | Content|
+ | ------| --------------------- --------------------------------|
+|  0     | BLOCK\_ID             |ID of the block|
+|  1      |ID                    |Timestamp in ms from the copter startup as a little-endian 3 bytes integer|
+|  4..    |Log variable values  | Packed log values in little endian format|
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_mem.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_mem.md
new file mode 100644
index 0000000000000000000000000000000000000000..feb9ca843d22d6c14467c84c74c9b51fbad90e55
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_mem.md
@@ -0,0 +1,223 @@
+---
+title: Memory access
+page_id: crtp_mem
+---
+
+
+Memory access is not used for the [Crazyflie Nano
+Quadcopter](https://wiki.bitcraze.io/projects:crazyflie:index), it\'s currently only implemented
+in the Crazyflie 2.0. Using the memory access gives the possibility to:
+
+-   Get information about which memories are available
+-   Read/write/erase memories
+
+Currently the following memories are supported:
+
+-   Crazyflie 2.0 onboard EEPROM
+-   Crazyflie 2.0 expansion board 1-wire memories
+
+There\'s more information available for how the EEPROM is structured and
+how the 1-wire memories work and are structured.
+
+Logical flow
+============
+
+Getting information and reading/writing the memories is optional for the
+clients, but the -Crazyflie Python Client- always downloads information
+about the memories on connect.
+
+![crtp mem](/docs/images/crtp_mem.png)
+
+Communication protocol
+======================
+
+The memory port uses 3 different channels:
+
+  **Port**   **Channel**   **Function**
+  ---------- ------------- ---------------------------------------------------------------------
+  4          0             Get information about amount and types of memory as well as erasing
+  4          1             Read memories
+  4          2             Write memories
+
+Channel 0: Info/settings
+------------------------
+
+This channel is used to get the number of memories present, information
+about the memories and the possibility to mass erase memories. The first
+byte of every packet is a command byte:
+
+|  Command byte   |Command              |Operation|
+|  -------------- |-------------------- |--------------------------------|
+|  1             | GET\_NBR\_OF\_MEMS  | Get the number of memories|
+|  2             | GET\_MEM\_INFO      | Get information about a memory|
+|  3             | SET\_MEM\_ERASE     | Mass erase a memory|
+
+### GET\_NBR\_OF\_MEMS
+
+This command is used to get the number of memories present.
+
+The request from host to Crazyflie:
+
+|  Byte   |Field                   |Value   |Length   |Comment|
+|  ------ |-----------------------| ------- |-------- |------------------|
+|  0      |GET\_NUMBER\_OF\_MEMS  | 0x01    |1        |The command byte|
+
+Reply from Crazyflie to host:
+
+|  Byte  | Field                  | Value  | Length  | Comment|
+|  ------| -----------------------| -------| --------| ---------------------------|
+|  0     | GET\_NUMBER\_OF\_MEMS  | 0x01   | 1       | The command byte|
+|  1     | Number of memories     |        | 1       | The number of memories preset (all types)|
+
+Example where there are 3 memories present on the Crazyflie:
+
+    Host-to-Crazyflie: <port/chan> 0x01
+    Crazyflie-to-Host: <port/chan> 0x01 0x03
+
+### GET\_MEM\_INFO
+
+This command is used to get information about a memory give it\'s id.
+The id of memories is sequential and is from 0 to one less than the
+returned number of memories from GET\_NUMBER\_OF\_MEMS.
+
+The request from host to Crazyflie:
+
+|  Byte  | Field           | Value  | Length  | Comment|
+|  ------| ----------------| -------| --------| --------------------------------------------|
+|  0    |  GET\_MEM\_INFO  | 0x02   | 1       | The command byte|
+|  1     | MEM\_ID          |       | 1       | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+
+Reply from Crazyflie to host if the id is valid:
+
+ | Byte  | Field           | Value  | Length  | Comment|
+ | ------| ----------------| -------| --------| -------------------|
+|  0     | GET\_MEM\_INFO  | 0x02   | 1       | The command byte|
+|  1     | MEM\_ID         |        | 1       | The memory id|
+|  2     | MEM\_TYPE       |        | 1       | The memory type (see below)|
+|  3     | MEM\_SIZE       |        | 4       | The size in bytes of the memory|
+|  7     | MEM\_ADDR       |        | 8       | The address of the memory (only valid for 1-wire memories)|
+
+Where the MEM\_TYPE field is:
+
+|  MEM\_TYPE  | Memory type   |Comment |
+|  -----------| ------------- |---------|
+|  0          | I2C          | |
+|  1          | 1-wire        ||
+
+Reply from Crazyflie to host if the id is not valid:
+
+ | Byte  | Field           | Value  | Length  | Comment
+ | ------| ----------------| -------| --------| ------------------
+ | 0     | GET\_MEM\_INFO  | 0x02   | 1       | The command byte
+ | 1     | MEM\_ID         |        | 1       | The memory id
+
+Example of requesting the information for a 1-wire memory with
+MEM\_ID=1, MEM\_SIZE=112bytes, MEM\_ADDR=0x1234567890ABCDEF
+
+    Host-to-Crazyflie: <port/chan> 0x02 0x01
+    Crazyflie-to-Host: <port/chan> 0x02 0x01 0x01 0x70 0x00 0x00 0x00 0xEF 0xCD 0xAB 0x90 0x78 0x56 0x34 0x12
+
+Example of requesting the information for a memory index that is not
+valid
+
+    Host-to-Crazyflie: <port/chan> 0x01 0x10
+    Crazyflie-to-Host: <port/chan> 0x01 0x10
+
+### SET\_MEM\_ERASE
+
+This command is used to mass erase a memory with a given id. The id of
+memories is sequential and is from 0 to one less than the returned
+number of memories from GET\_NUMBER\_OF\_MEMS.
+
+The request from host to Crazyflie:
+
+|  Byte  | Field            | Value  | Length  | Comment|
+|  ------| ------------------|-------|--------|--------------|
+|  0     | SET\_MEM\_ERASE  | 0x03   | 1      |  The command byte|
+|  1     | MEM\_ID          |        | 1      |  A memory id that is 0 \<= id \<| NBR\_OF\_MEMS
+
+Reply from Crazyflie to host:
+
+ | Byte  | Field            | Value  | Length  | Comment|
+ | ------| -----------------| -------| --------| ---------------------------------------|
+ | 0     | SET\_MEM\_ERASE  | 0x03   | 1       | The command byte|
+ | 1     | MEM\_ID          |        | 1       | The memory id|
+ | 2     | STATUS           |        | 1       | The status of the command (see below)|
+
+Example of requesting a mass erase for a memory with MEM\_ID=2
+
+    Host-to-Crazyflie: <port/chan>
+    Crazyflie-to-Host: <port/chan>
+
+Example of
+
+    Host-to-Crazyflie: <port/chan>
+    Crazyflie-to-Host: <port/chan>
+
+Channel 1: Memory read
+----------------------
+
+This channel is only used to read memories and therefore the messages do
+not contain any command byte.
+
+The request from host to Crazyflie:
+
+|  Byte  | Field      | Value   |Length   |Comment|
+|  ------| -----------|  ------- -------- |-------------------------------------------------|
+|  0     | MEM\_ID    |        | 1        |A memory id that is 0 \<= id \< NBR\_OF\_MEMS |
+|  1     | MEM\_ADDR  |         |4        |The address where the first byte should be read |
+|  5     | LEN         |        |1        |The number of bytes to be read |
+
+Reply from Crazyflie to host if memory id is valid and the address and
+length to be read is valid:
+
+|  Byte |  Field    |  Value   |Length  | Comment|
+|  -----| -----------| ------- |-------- |--------------|
+|  0     | MEM\_ID   |         | 1       | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+|  1    |  MEM\_ADDR |         | 4       | The address where the first byte should be read|
+|  5    |  STATUS    |         | 1       | The status of the request (see below)|
+|  6    |  DATA      |         | 1..24?   |The data that was read (only if MEM\_ID/MEM\_ADDR/LEN is valid)|
+
+Where the STATUS field is:
+
+  STATUS   Comment
+  -------- ---------
+  0        \...
+  1        \....
+
+Example of reading LEN=0x0F bytes from MEM\_ID=0x01 MEM\_ADDR=0x0A
+
+    Host-to-Crazyflie: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x0F
+    Crazyflie-to-Host: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x00 0x01 0x09 0x62 0x63 0x4C 0x65 0x64 0x52 0x69 0x6E 0x67 0x02 0x01 0x62 0x55
+
+Channel 2: Memory write
+-----------------------
+
+This channel is only used to write memories and therefore the messages
+do not contain any command byte.
+
+The request from host to Crazyflie:
+
+ | Byte  | Field      | Value  | Length  | Comment|
+|  ------| ----------- |------- |--------| -------------------------------------------------|
+ | 0    |  MEM\_ID    |         |1       | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+ | 1    |  MEM\_ADDR   |       | 4       | The address where the first byte should be read|
+ | 5    |  DATA        |       | 1..24?  | The data to be written|
+
+Reply from Crazyflie to host if memory id is valid and the address and
+length to be written is valid:
+
+ | Byte  | Field      | Value  | Length  | Comment|
+ | ------| -----------| -------| --------| -------------------------------------------------|
+ | 0      |MEM\_ID    |       |  1      |  A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+ | 1     | MEM\_ADDR  |       |  4      |  The address where the first byte should be read|
+ | 4      |STATUS    |        |  1       | The status of the request (see below)|
+
+Where the STATUS field is:
+
+ | STATUS  | Comment|
+ | --------| ---------|
+ | 0      | \...|
+ | 1      |  \....|
+
+Example
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_parameters.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_parameters.md
new file mode 100644
index 0000000000000000000000000000000000000000..a873fab68f08e817984ce6a05ab3cb67862675dd
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/crtp_parameters.md
@@ -0,0 +1,167 @@
+---
+title: Parameters
+page_id: crtp_parameters
+---
+
+The parameters system makes all the gettable and settable parameters of
+the copter accessible. The copter holds a table of parameters which can
+be retrieved. In this table every parameter name is associated with an
+ID and a group name. Three IDs are used to acces the TOC and the
+parameters:
+
+|  Port |  Channel  | Function |
+|  ------| ---------| --------------------------------------------------------------|
+|  2   |   0        | [TOC access](#toc-access)|
+|  2   |   1        | [Parameter read](#parameter-read)|
+|  2   |   2        | [Parameter write](#parameter-write)|
+|  2   |   3        | [Misc. commands](#misc-commands)|
+
+TOC access
+----------
+
+These messages permit to access the parameters table of content. The
+first byte of the message is a message ID, three messages ID are
+defined:
+
+ | Message ID  | Meaning in upstream packets  | Meaning in downstream packets |
+ | ------------| -----------------------------| -------------------------------------|
+ |0            | Reset TOC pointer            | Last TOC element|
+ | 1           | Get next TOC element         | TOC element (ID, type, group, name)|
+ | 3           | Get TOC CRC32                | Number of parameters, TOC CRC32|
+
+The upstream ID are commands and are sent alone. The downstream has the
+following formats:
+
+    Bytes     1       1          1    Null terminated strings
+            +---+------------+------+----------+--------------+
+            | 0 |            |      |          |              |
+            +---+  Param ID  | Type |  Group   |     Name     |
+            | 1 |            |      |          |              |
+            +---+------------+------+---+------+--------------+
+            | 3 | Num. Param |  CRC32   |
+            +---+------------+----------+
+    Bytes     1       1           4
+
+The parameters are sequentially requested by the PC until the end. When
+the last parameter is reached it has the ID 0 \'Last TOC element\'. The
+reset command permits to reset the TOC pointers so that the next sent
+TOC element will be the first one. The \"Get TOC CRC\" command also
+returns the number of parameters.
+
+The CRC32 is a hash of the copter TOC. This is aimed at implementing
+caching of the TOC in the PC Utils to avoid fetching the full TOC each
+time the copter is connected.
+
+The type is one byte describing the parameter type:
+
+|  Type code |  C type     | Python unpack |
+|  -----------| -----------| ---------------|
+| 0x08      |  uint8\_t   |  \'&lt;B \'|
+|  0x09      |  uint16\_t |  \'&lt;H\' |
+|  0x0A      |  uint32\_t |  \'&lt;L\' |
+|  0x0B      |  uint64\_t |  \'&lt;Q\' |
+|  0x00      |  int8\_t   |  \'&lt;b\' |
+|  0x01      |  int16\_t  |  \'&lt;h\' |
+|  0x02      |  int32\_t  |  \'&lt;i\' |
+|  0x03      |  int64\_t  |  \'&lt;q\' |
+|  0x05      |  FP16      |  \'\'    |
+|  0x06      |  float     |  \'&lt;f\' |
+|  0x07      |  double    |  \'&lt;d\' |
+
+Parameter read
+--------------
+
+
+
+ | Byte  | Request fields  | Content
+|  ------| ----------------| ---------------------------------------
+|  0     | ID              | ID of the parameter to read (see TOC)
+
+
+
+|  Byte  | Answer fields   |Content|
+|  ------| ---------------| -----------------------------------------------------------------|
+|  0     | ID             | ID of the parameter |
+|  1-..  | value          | Value of the parameter. Size and format is described in the TOC |
+
+
+
+The read request is a simple packet on channel 1. Crazyflie answers with
+the value.
+
+Parameter write
+---------------
+
+
+
+ | Byte    | Request fields   |Content|
+ | --------| ---------------- |---------------------------------------------------------|
+ | 0      |  ID               |ID of the parameter to write|
+ | 1-\...  | value           | Value to write. Size and format is described in the TOC|
+
+
+
+ | Byte     |Answer fields   |Content|
+|  -------- |--------------- |-----------------------------------------------------------------|
+|  0        |ID              |ID of the parameter|
+|  1-\...   |value           |Value of the parameter. Size and format is described in the TOC|
+
+
+
+The write request is a simple packet on channel 2. Crazyflie sends back
+the parameter value as an acknowledgement.
+
+Misc. commands
+--------------
+
+The following misc commands are implemented:
+
+|  Code  | Command|
+|  ------| ------------------------------------------------------|
+|  0x00  | [Set by name](#set-by-name)|
+|  0x01  | [Value updated](#value-updated)
+
+### Set by name
+
+|  Byte             | Request fields   | Content|
+|  -----------------| ----------------| ---------------------------------------------|
+|  0                | SET\_BY\_NAME   | 0x00 |
+|  1-n              | group           | Name of the group |
+|  n-(n+1)          | NULL            | 0 |
+|  (n+1)-(n+m+1)    | name            | Name of the parameter |
+|  (n+m+1)-(n+m+2)  | NULL            | 0 |
+|  (n+m+2)-(n+m+3)  | TYPE            | Parameter type |
+|  (n+m+3)-\...     | value           | Value. Size and format is described by type |
+
+
+
+| Byte           | Answer fields  | Content|
+| ---------------| ---------------| ---------------------------------------------------|
+|  0             |  SET\_BY\_NAME  | 0x00|
+|  1-n           |  group          | Name of the group|
+|  n-(n+1)       |  NULL           | 0|
+|  (n+1)-(n+m+1) |  name           | Name of the parameter|
+|  (n+m+2)       |  NULL           | 0|
+|  (n+m+3)       |  ERROR          | 0 if the parameter has been successfully written. Other code are taken from [errno C codes](http://www.virtsync.com/c-error-codes-include-errno). |
+
+
+*Group* and *name* are ascii strings of size respectively *n* and *m*.
+The type corresponds to the TOC type of the parameter. It is checked for
+consistency.
+
+This command is useful to set a parameter without having to fetch the
+full TOC. It is enough to know the group, name and type of the parameter
+to write it.
+
+### Value updated
+
+There is no request packet for this message, it is only sent by the Crazyflie.
+
+| Byte           | Answer fields   | Content|
+| ---------------| ----------------| ---------------------------------------------------|
+|  0             |  VALUE\_UPDATED | 0x01                                               |
+|  1-2           |  ID             | ID of the parameter                                |
+|  3-\...        |value            |Value of the parameter. Size and format is described in the TOC|
+
+This packet is send by the Crazyflie when a parameters has been modified in the firmware.
+This can for example happen when an app is controlling the Crazyflie autonomously.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..26098c9b646f46aeba0d96fcd52cc1fb668ec7c0
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/crtp/index.md
@@ -0,0 +1,72 @@
+---
+title: CRTP - Communication with the Crazyflie
+page_id: crtp_index
+---
+
+For communicating with the Crazyflie we have implemented our own
+high-level protocol named CRTP (Crazy RealTime Protocol). It\'s a fairly
+simple protocol using a number of target ports where data can be sent
+and received in either direction, but in most cases the communication is
+driven from the host. The protocol can be implemented on a number of
+mediums, currently we have USB and Crazyradio support.
+
+CRTP
+====
+
+Physical carriers
+-----------------
+
+Currently CRTP is supported over Crazyradio and USB (currently only for
+Crazyflie 2.0).
+
+ | Carrier          | Supports|
+ | -----------------| -------------------|
+ | Crazyradio (PA)  | Crazyflie 1.0/2.0|
+ | USB              | Crazyflie 2.0|
+
+Header
+------
+
+Each packet has a 1 byte header and can carry up to 31 bytes data
+payload. The header field has the following layout:
+
+       7    6    5    4    3    2    1    0
+    +----+----+----+----+----+----+----+----+
+    |       Port        |  Link   |  Chan.  |
+    +----+----+----+----+----+----+----+----+
+
+Where:
+
+-   **Port**: Used to identify the functionality or task that is
+    associated with this message
+-   **Link**: Reserved for future use
+-   **Channel**: Used to identify the sub-task/functionality
+
+Port allocation
+---------------
+
+Current port allocation:
+
+| **Port** |  **Target**                                  |          **Used for**|
+| ---------| ---------------------------------------------| ----------------------------------------------------------------|
+|  0       | [Console](crtp_console.md)                   | Read console text that is printed to the console on the Crazyflie using consoleprintf|
+|  2       | [Parameters](crtp_parameters.md)             | Get/set parameters from the Crazyflie. Parameters are defined using a [macro in the Crazyflie source-code](/docs/userguides/logparam.md)|
+|  3       | [Commander](crtp_commander.md)               | Sending control set-points for the roll/pitch/yaw/thrust regulators|
+|  4       | [Memory access](crtp_mem.md)                 | Accessing non-volatile memories like 1-wire and I2C (only supported for Crazyflie 2.0)|
+|  5       | [Data logging](crtp_log.md)                  | Set up log blocks with variables that will be sent back to the Crazyflie at a specified period. Log variables are defined using a [macro in the Crazyflie source-code](/docs/userguides/logparam.md)
+|  6       | [Localization](crtp_localization.md)         | Packets related to localization|
+|  7       | [Generic Setpoint](crtp_generic_setpoint.md) | Allows to send setpoint and control modes|
+|  13      | Platform                                     | Used for misc platform control, like debugging and power off|
+|  14      | Client-side debugging                        | Debugging the UI and exists only in the Crazyflie Python API and not in the Crazyflie itself.|
+|  15      | Link layer                                   | Used to control and query the communication link|
+
+Connection procedure
+--------------------
+
+CRTP is designed to be state-less, so there\'s no handshaking procedure
+that is needed. Any command can be sent at any time, but for some
+logging/param/mem commands the TOC (table of contents) needs to be
+downloaded in order for the host to be able to send the correct
+information. The implementation of the Pyton API will download the
+param/log/mem TOC at connect in order to be able to use all the
+functionality.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/deck_memory_format.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/deck_memory_format.md
new file mode 100644
index 0000000000000000000000000000000000000000..b885575969d45a636c87cf030c5a12b932b5ea9c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/deck_memory_format.md
@@ -0,0 +1,129 @@
+---
+title: Deck memory format
+page_id: deck_memory_format 
+---
+
+The OneWire (OW) memory contained in all Crazyflie 2.0 decks is used to
+detect the boards connected in order to:
+
+-   Decide if it is safe to start the system.
+-   When the system is started, initialize the required drivers for the
+    deck installed.
+
+The memory format has CRC to guarantee data integrity. It is separated
+in two part:
+
+-   The header is 7 bytes long and contains the identity of the board
+    encoded in VID/PID (Vendor ID and Product ID) as well as a bitfield
+    describing the pins the deck is driving (to avoid conflict).
+-   The key/value area is extendable and contains more information like
+    the deck name, board revision and driver-specific information (ie.
+    for configuration or calibration for example).
+
+Content
+-------
+
+      1. Header     1 Byte 0xEB
+      2. UsedPins       4 Bytes
+      3. VID        1 Byte
+      4. PID        1 Byte
+      5. crc        1 Byte CRC32[0] (LSB byte) from 1 to 4.
+      6. Version        1Byte, 0 for now
+      7. DataLength     1 Byte (255 max data length…)
+      8. key/value data <DataLength> bytes
+      9. crc        1 Byte CRC32[0] (LSB byte) from 6 to 8
+
+-   The header area is from 1 to 5.
+-   The key/value area is from 6 do 9
+
+Header
+------
+
+The header allows to detect the deck installed and to verify that the
+deck stack is compatible.
+
+The *UsedPins* value indicates which pins the **deck is driving** on the
+expansion port. For example a UART TX pin is driving both high and low
+when an i2c port is only driving low. For every GPIO on the expantion
+port one bit indicate if the GPIO can be driven high and one bit if it
+can be driven low:
+
+|  Drive     | PC11  | PC10 |  PB7 |  PB6  | PB8  | PB5  | PB4  | PC12  | PA2  | PA3  | PA5  | PA6  | PA7 |  P0.11  | P0.12  | P0.08 |
+|  ---------- |------| ------| -----| -----| -----| -----| -----| ------| -----| -----| -----| ----- |-----| -------| -------| -------|
+|  **Low**   | 0      |1     | 2    | 3    | 4    | 5    | 6    | 7     | 8    | 9    | 10   | 11   | 12  |  13     | 14     | 15|
+|  **High**  | 16     |17    | 18   | 19   | 20   | 21   | 22   | 23    | 24   | 25   | 26   | 27   | 28  |  29     | 31    |  31|
+
+For example is a deck has a GPS that has its UART TX on PC11 (push-pull,
+drives high and low), the *UsedPins* value will be (1\<\<0) \| (1\<\<16)
+= 0x00010001. As another example is a deck has an I2C sensor on PB6,PB7
+(Open collector, only drives low), the *UsedPins* value is then:
+(1\<\<2) \| (1\<\<3) = 0x0000000C
+
+The *VID* is the vendor ID (or Maker ID :). Currently only 0xBC is
+reserved for Bitcraze and 0x00 is reserved for test/development. Contact
+Bitcraze if you plan to distribute decks and want a *VID*.
+
+A deck with *VID/PID* = 0/0 must have its name in the key/value area
+(the driver will then be chosen by name instead of pid/vid).
+
+Key/value area
+--------------
+
+The *version* is 0. The key/value data contains a succession of
+elements. Elements id and types are predefined. Unknown elements are
+ignored.
+
+Elements have this format:
+
+
+ | **Id**      | 1Byte|
+ | **length**  | 1Byte|
+ | **data**     |\<length\> Bytes|
+
+
+The following elements are defined:
+
+|  Element     | Element\_id  | Data type  | Note|
+|  ------------| -------------| -----------| -------------------------------------------|
+|  boardName   | 1            | string    |  Short. Starts by "bc" for Bitcraze boards|
+|  revision    | 2            | string    |  |
+|  customData  | 3            | binary    |  Data understood by the deck driver|
+
+Example
+-------
+
+This is an example of OW memory content for the led ring deck.
+
+    0000000: eb 00 00 00 00 bc 01 44 00 0e 01 09 62 63 4c 65  .......D....bcLe
+    0000010: 64 52 69 6e 67 02 01 62 55                       dRing..bU
+
+Content:
+
+    {
+        "header": {
+            "usedPin": 0,
+            "vid": 188,
+            "pid": 1
+        },
+        "data": {
+            "boardName": "bcLedRing",
+            "revision": "b"
+        }
+    }
+
+Element IDs and types (DTD):
+
+    {
+        "boardName": {
+            "type": "string",
+            "id": 1
+        },
+        "revision": {
+            "type": "string",
+            "id": 2
+        },
+        "customData": {
+            "type": "binary",
+            "id": 3
+        }
+    }
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/angle_conversion.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/angle_conversion.md
new file mode 100644
index 0000000000000000000000000000000000000000..d378950ba7dea579e83f7b01f3b8d789ae0cec92
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/angle_conversion.md
@@ -0,0 +1,123 @@
+---
+title: Lighthouse angle conversion
+page_id: lh_angle_conversion
+---
+
+One way to get started with lighthouse 2 is to create a conversion from lighthouse 2 angles to lighthouse 1 angles,
+and use the functionality that has already been implemented for lighthouse 1. Even though it is an easy way to get started, the main drawback is that we need both sweeps for the conversion. Lighthouse 1 angles are also easier to
+understand and can be a useful debugging tool.
+
+## Lighthouse 1 to lighthouse 2
+
+Start from the [measurement model for the kalman filter](./kalman_measurement_model.md).
+
+For a point $$(x, y, z)$$, the sweep angles are
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan(-t)}{\sqrt{x^2 + y^2}})\\
+\alpha^{lh2}_2 = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan(t)}{\sqrt{x^2 + y^2}})
+\end{cases}
+$$
+
+where $$t = \frac{\pi}{6}$$
+
+$$x$$, $$y$$ and $$z$$ are given by the lighthouse 1 sweep angles
+
+
+$$
+\begin{cases}
+x = 1 \\
+y = \tan(\alpha^{lh1}_1) \\
+z = \tan(\alpha^{lh1}_2)
+\end{cases}
+$$
+
+this leads to
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \alpha^{lh1}_1 + \sin^{-1}(\frac{\tan(\alpha^{lh1}_2)\tan(-t)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}})\\
+\alpha^{lh2}_2 = \alpha^{lh1}_1 + \sin^{-1}(\frac{\tan(\alpha^{lh1}_2)\tan(t)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}})\\
+\end{cases}
+$$
+
+or
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \alpha^{lh1}_1 + \sin^{-1}(q\tan(-t))\\
+\alpha^{lh2}_2 = \alpha^{lh1}_1 + \sin^{-1}(q\tan(t))\\
+\end{cases}
+$$
+
+where
+
+$$q = \frac{\tan(\alpha^{lh1}_2)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}}$$
+
+
+
+## Lighthouse 2 to lighthouse 1
+
+The strategy when creating an equation to convert from lighthouse 2 sweep angles to lighthouse 1, is to find the intersection line between the two light planes. From the intersection line we can easily calculate the lighthouse 1 sweep angles.
+
+The following calculations are all in the base station reference frame.
+
+Assume we know the normals for the two light planes, $$\vec{n_1}$$ and $$\vec{n_2}$$. The cross product of the normals $$\vec{v} = \vec{n_1} \times \vec{n_2}$$
+gives us the direction of the intersection line. We also know it is passing through the origin as we are using the base station
+reference frame.
+
+### Normals of the light planes
+
+Start by figuring out the normals when $$\alpha=0$$, and then rotate them around the Z-axis using a rotation matrix.
+
+The rotation matrix is
+
+$$R_{z} = \left[\begin{array}{ccc}
+cos{\alpha} & -sin{\alpha} & 0 \\
+sin{\alpha} & cos{\alpha} & 0 \\
+0 & 0 & 1
+\end{array}\right]$$
+
+and the resulting normals
+
+$$
+\begin{cases}
+\vec{n1}=R_z \cdot \begin{bmatrix}0 & -cos{(t)} & sin{(t)}\end{bmatrix} = \begin{bmatrix}cos{(t)}sin{(\alpha^{lh2}_1)} & -cos{(t)}cos{(\alpha^{lh2}_1)} & sin{(t)}\end{bmatrix} \\
+\vec{n2}=R_z \cdot \begin{bmatrix}0 & -cos{(t)} & -sin{(t)}\end{bmatrix} = \begin{bmatrix}cos{(t)}sin{(\alpha^{lh2}_2)} & -cos{(t)}cos{(\alpha^{lh2}_2)} & -sin{(t)}\end{bmatrix}
+\end{cases}
+$$
+
+where $$t=\pi/6$$ is the tilt angle of the light planes.
+
+
+### The intersection vector
+
+$$\vec{v} = \vec{n_1} \times \vec{n_2} = \begin{bmatrix}-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)}) & -\sin{(t)}\cos{(t)}(\sin{(\alpha^{lh2}_1)} + \sin{(\alpha^{lh2}_2)}) & \cos^2{(t)}(\sin{(\alpha^{lh2}_1)}\cos{(\alpha^{lh2}_2)}-\cos{(\alpha^{lh2}_1)}\sin{(\alpha^{lh2}_2)})\end{bmatrix}$$
+
+### Lighthouse 1 angles
+
+Finally we can calculate the lighthouse 1 angles
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \tan^{-1}(\frac{v_2}{v_1})\\
+\alpha^{lh1}_2 = \tan^{-1}(\frac{v_3}{v_1})
+\end{cases}
+$$
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \tan^{-1}(\frac{-\sin{(t)}\cos{(t)}(\sin{(\alpha^{lh2}_1)} + \sin{(\alpha^{lh2}_2)})}{-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})\\
+
+\alpha^{lh1}_2 =
+\tan^{-1}(\frac{\cos^2{(t)}(\sin{(\alpha^{lh2}_1)}\cos{(\alpha^{lh2}_2)}-\cos{(\alpha^{lh2}_1)}\sin{(\alpha^{lh2}_2)})}{-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})
+\end{cases}
+$$
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \frac{\alpha^{lh2}_1 + \alpha^{lh2}_2}{2}\\
+
+\alpha^{lh1}_2 = \tan^{-1}(\frac{\sin{(\alpha^{lh2}_2 - \alpha^{lh2}_1)}}{\tan{(t)} (\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})\end{cases}
+$$
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..60e92552e5221d3369c0fd6c8b088e752fcfa7f4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/index.md
@@ -0,0 +1,19 @@
+---
+title: The Lighthouse positioning system
+page_id: lh_overview
+redirects:
+  - /docs/functional-areas/lighthouse_overview/
+---
+
+The Lighthouse positioning system uses the HTC Vive base stations (aka Lighthouse) togeather with the Lighthouse
+deck to achieve high precision positioning.
+
+The basics:
+ * [System overview](/docs/functional-areas/lighthouse/system_overview.md)
+ * [Limitations](/docs/functional-areas/lighthouse/limitations.md)
+ * [Positioning methods](/docs/functional-areas/lighthouse/positioning_methods.md)
+
+Development related pages
+ * [Terminology and definitions](/docs/functional-areas/lighthouse/terminology_definitions.md)
+ * [Kalman estimator measurement model](/docs/functional-areas/lighthouse/kalman_measurement_model.md)
+ * [Converting between LH1 and LH2 angles](/docs/functional-areas/lighthouse/angle_conversion.md)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/kalman_measurement_model.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/kalman_measurement_model.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f4a63dd0c0c7bcdd7efefd6ea534995e08505be
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/kalman_measurement_model.md
@@ -0,0 +1,111 @@
+---
+title: Lighthouse kalman measurment model
+page_id: lh_measurement_model
+---
+
+This page describes the generalized measurement model used for the lighthouse in the kalman state estimator.
+
+In the measurement model we want to get from a sensor position $$\vec{s}$$ to rotation angle $$\alpha$$.
+The first step is to calculate the sensor position in the rotor reference frame.
+
+Use a rotation matrix $$R_r$$ to go from the base station reference frame to the rotor reference frame.
+For LH2 and the horizontal rotor in LH1 this is the unit matrix, while the vertical drum in LH1 gets
+$$R_{vert} = \left[\begin{array}{ccc}
+1 & 0 & 0 \\
+0 & 0 & 1 \\
+0 & -1 & 0
+\end{array}\right]$$
+
+The sensor has position $$\vec{s_{cf}}$$ in the CF reference frame and
+$$\vec{s} = \vec{p_{cf}} + R_{cf} \cdot \vec{s_{cf}}$$ in the global reference frame. The sensor position
+in the base station reference frame is $$s_{bs} = R_{bs}^{-1} \cdot (\vec{s} - \vec{p_{bs}}) =
+R_{bs}^{-1} \cdot (\vec{p_{cf}} - \vec{p_{bs}} + R_{cf} \cdot \vec{s_{cf}})$$
+
+Finally, the sensor position in the rotor reference frame is $$\vec{s_r} =
+R_r \cdot R_{bs}^{-1} \cdot (\vec{p_{cf}} - \vec{p_{bs}} + R_{cf} \cdot \vec{s_{cf}})$$
+
+## Measurement
+
+The measurement is the rotation angle $$\alpha$$ when the sensor is hit by the light plane.
+
+## Prediction
+
+To calculate the predicted rotation angle $$\alpha_p$$ we have to go from the sensor position
+($$s_r = (x, y, z)$$ in the rotor reference frame) to rotation angle, where the rotation angle is from
+the X-axis to the line where the light plane intersects the XY-plane. The rotation angle to the sensor
+$$\alpha_s$$ is the sum of the predicted rotation angle $$\alpha_p$$ and the rotation angle from the
+intersection line to the sensor $$\alpha_t$$, caused by the tilt of the light plane,
+$$\alpha_s = \alpha_p + \alpha_t$$
+
+![Prediction geometry](/docs/images/lighthouse/prediction_geometry.png)
+
+The rotation angle to the sensor $$\alpha_s$$ is defined by
+
+$$\tan \alpha_s = \frac{y}{x}$$
+
+$$\alpha_s = \tan^{-1}(\frac{y}{x})$$
+
+To calculate $$\alpha_t$$ we first have to look at the sensor position projected on the XY-plane
+$$(x, y, 0)$$. The radius to this point is $$r = \sqrt{x^2 + y^2}$$
+
+We also need the distance $$d$$ from the intersection line to the sensor, perpendicular to the
+intersection line, $$d=r\sin \alpha_t$$.
+
+$$d$$ can also be calculated using the tilt and z, $$d=z\tan -t$$. If we combine these
+
+$$r\sin \alpha_t = z\tan -t$$
+
+$$\sin \alpha_t = \frac{z\tan -t}{r} = -\frac{z\tan t}{\sqrt{x^2 + y^2}}$$
+
+$$\alpha_t = \sin^{-1}(-\frac{z\tan t}{\sqrt{x^2 + y^2}}) = -\sin^{-1}(\frac{z\tan t}{\sqrt{x^2 + y^2}})$$
+
+Finally we can calculate the predicted rotation angle
+
+$$\alpha_p = \alpha_s - \alpha_t = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan t}{\sqrt{x^2 + y^2}})$$
+
+## H vector
+
+Calculate the position elements of the H vector in the rotor reference frame
+
+$$\vec{g_r} = \begin{pmatrix}
+\frac{d\alpha_p}{dx} & \frac{d\alpha_p}{dy} & \frac{d\alpha_p}{dz}
+\end{pmatrix}$$
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y}{x^2 + y^2} - \frac{xz\tan t}{(x^2+y^2)^{\frac{3}{2}} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} } &
+\frac{x}{x^2 + y^2} - \frac{yz\tan t}{(x^2+y^2)^{\frac{3}{2}} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} } &
+\frac{\tan t}{\sqrt{x^2+y^2} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} }
+\end{bmatrix}$$
+
+Let $$r=\sqrt{x^2+y^2}$$ and $$Q=\frac{\tan t}{\sqrt{x^2+y^2} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}}} =
+\frac{\tan t}{r \sqrt{1-\frac{(z\tan t)^2}{r^2}}} = \frac{\tan t}{\sqrt{r^2-(z\tan t)^2}} $$
+
+Which leads to
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y-xzQ}{x^2 + y^2} &
+\frac{x-yzQ}{x^2 + y^2} &
+Q
+\end{bmatrix}$$
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y-xzQ}{r^2} &
+\frac{x-yzQ}{r^2} &
+Q
+\end{bmatrix}$$
+
+Rotate the position elements to the global reference frame to be used in the kalman filter
+
+$$\vec{g}=(R_r \cdot R_{bs}^{-1})^{-1} \cdot \vec{g_r} = R_{bs} \cdot R_r^{-1} \cdot \vec{g_r}$$
+
+Finally we have the H vector
+
+$$H=(g_x, g_y, g_z, 0, 0, 0...)$$
+
+## Optimizations
+
+For rotation matrices the following is true
+
+$$R^{-1} = R^T$$
+
+$$R_1 \cdot (R_2 \cdot \vec{v}) = (R_1 \cdot R_2) \cdot \vec{v}$$
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/limitations.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/limitations.md
new file mode 100644
index 0000000000000000000000000000000000000000..ce5c0546cf1df24aca6ff399597fc40122cb6b9f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/limitations.md
@@ -0,0 +1,14 @@
+---
+title: Lighthouse limitations
+page_id: lh_limitations
+---
+
+One limitation of the lighthouse deck is that since the deck only has horizontal sensors, the angle at which the base-stations are seen cannot be too shallow. This means that you should fly at least 40cm bellow the base-stations and that the base-stations should be placed above the flight space.
+
+## State of the base station V2 support
+
+The lighthouse V2 support is currently at a Minimum Viable Product state.
+This means that is it well supported but still has some limitation that can be lifted in future development.
+
+* 1 and 2 base stations are supported
+* The base stations must be configured to use channel 1 and 2
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/positioning_methods.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/positioning_methods.md
new file mode 100644
index 0000000000000000000000000000000000000000..19253d2265548c3cc3c6fece2db447bb0fa2a596
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/positioning_methods.md
@@ -0,0 +1,37 @@
+---
+title: Lighthouse positioning methods
+page_id: lh_positioning_methods
+---
+
+There are two basic methods for estimating the position of the Lighthouse deck, they are outlined here.
+
+## Crossing beams
+
+This was the first method to be implemented and is simple and roubust, but requires two base stations to be visible.
+
+The idea is to calculate the vectors from two basestation to a sensor on the Lighthouse deck. This vector is defined by the
+intersection line between the two lightplanes of the base station and is sometimes referred to as a "beam", hence the name.
+
+In theory the beams should cross in the point where the sensor is located, in real life there are errors and the
+beams will not exactly meet. To handle this the algorithm calculates the point that is closest to both beams instead, and uses
+this as the estimated position.
+
+The distance from the estimated position to the beam is called the delta and is available as a log in the Crazyflie. It provides
+a measurement of the error in system.
+
+The calculated position is fed into the kalman estimator to be used together with other sensor data.
+
+## Raw sweeps
+
+It is preferable to use senstor data that has been processed as lite as possible in a kalman filter, and that is
+what we try to do in this method. The base station geometry and angle of one sweep is passed directly into
+the kalman estimator to be used to improve the estimate. The measurement model is based on the fact that the
+sensor must be located in the plane that is defined by the base station geometry and sweep angle.
+
+One base station is enough to estimate the position using this method, but more base stations adds precission and redundancy.
+
+
+## Ground truth
+
+To use the lighthouse positioning as a ground truth measurement for your research, you should put ```CFLAGS += -DLIGHTHOUSE_AS_GROUNDTRUTH``` in your config.mk.
+ This will default the position estimator for lighthouse to be crossing beam (which you should not change), and you will be able to get the X, Y, Z position from the logs ```lighthouse.x/.y/.z```
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/system_overview.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/system_overview.md
new file mode 100644
index 0000000000000000000000000000000000000000..06a493c221613071b3b9918e1f2345d47bc73d93
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/system_overview.md
@@ -0,0 +1,44 @@
+---
+title: Lighthouse system overview
+page_id: lh_system_overview
+---
+
+The lighthouse deck allows to use the HTC-Vive/SteamVR lighthouse tracking system to fly Crazyflies autonomously. The system works with one or two Lighthouse base stations (two recommended), both V1 and V2 are supported. It is not possible to mix V1 and V2 base stations in the same system.
+
+After everything is setup, the computer is not required anymore: the Crazyflie will autonomously estimate its position from the lighthouse signals.
+
+## The basics
+
+The information obtained from a lighthouse system is essentially two angles describing the direction from the base station to each light sensor on the lighthouse deck. All measurements and position calculations are performed in the Crazyflie.
+
+The Crayzflie needs two pieces of system information to be able to estimate its position. The first is calibration data for all base stations in the system, the second is geometry data.
+
+The calibration data describes slight imperfections in the the manufacturing of the base stations. The calibration data is measured in the factory and is stored in each base station. The calibration data is required to calculate the angles with a high level of accuracy.
+
+The geometry data describes the position and orientation of the base stations and is needed to understand how the measured angles relate to the global reference frame.
+The geometry data is calculated by the client using raw angles corrected by calibration data.
+
+Calibration and geometry data is stored in the Crazyflie to make it possible to take off and use the lighthouse system imediate after reboot.
+
+The Crazyflie must know if the system is using V1 or V2 type base stations, this is set manually from the client.
+
+## The number of base stations and frame synchronization
+The lighthouse deck works with one or two basestations but the estimated position will be better and more stable with two basestations. When using two basestations, one of them may be occluded temporarily, and the Crazyflie will use the other one for positioning.
+
+The protocol for the lighthouse V1 is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process when the basestations are visible. Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation system.
+
+The protocol in lighthouse 2 does not use the same frame concept and there is no need for frame sync.
+
+The lighthouse V2 protocol supports more than 2 base stations and most of the Crazyflie firmware is designed for this as well but the tools currently only support two base stations.
+The ```PULSE_PROCESSOR_N_BASE_STATIONS``` (in pulse_processor.h) determines the number of base stations that are handled by the system and can be increased by brave users. This feature is very much untested and there is currently no support to estimate the geometry of a 2+ system.
+
+## Position estimation methods
+There are currently two ways of calculating the position using the lighthouse.
+
+The first method that was implemented calculates two vectors (or beams) from the basestations, based on the sweep angles measured by the sensors on the Crazyflie. The intersection point between the beams is the position of the Crazyflie, and this point is pushed into the estimator. We call this method the “crossing beam” method. A more recent implementation pushes the sweep angles from the base stations into the estimator and lets the kalman filter calculate the position based on this information. This method is called the “sweep angle” method and also works if only one basestation is available. It is possible to change positioning method “on the fly” by setting the lighthouse.method parameter. The sweep angle method is the default.
+
+## V1 vs. V2
+
+Crazyflie support two generation of lighthouse basestation called V1 and V2.
+
+The main difference between the two versions is that lighthouse V1 is designed to work with 2 basestion sychonized either optically or via a cable, and V2 is design to work with any number of independent basestations setup on different channels.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/terminology_definitions.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/terminology_definitions.md
new file mode 100644
index 0000000000000000000000000000000000000000..f3ceea213d1fd3b7e25755d2e08e269ca9ddabf7
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/lighthouse/terminology_definitions.md
@@ -0,0 +1,85 @@
+---
+title: Lighthouse terminology and definitions
+page_id: lh_terminology
+---
+
+This page contains terminology and definitions for the lighthouse system to make it easier to
+understand and discuss algorithms and code. Our definitions probably do not match the ones used
+by other software packages, but we find these suitable for our setup.
+
+## Reference frames
+
+There are a number of different reference frames (or coordinate systems) used.
+
+### Global reference frame
+
+The global coordinate system is fixed in the room and shared by all parts of the system. This system
+is used for absolute position references in set points and the kalman estimator.
+
+### Crazyflie reference frame
+
+The Crazyflie reference frame is defined with the X-axis pointing forward, the Y-axis pointing left when seen from behind
+and the Z-axis pointing upwards.
+
+### Base station reference frame
+
+The base station coordinate system is defined as
+ * X-axis pointing forward through the glass
+ * Y-axis pointing right, when the base station is seen from the front.
+ * Z-axis pointing up (away from the screw mount)
+
+![Base station reference frame](/docs/images/lighthouse/base_station_ref_frame.png)
+
+### Rotor reference frame
+
+There is one (LH2) or two rotors (LH1) in a base station. Each rotor is rotating around an axis of rotation, $$\vec{r}$$.
+We define a coordinate system for the rotor where the Z-axis points along $$\vec{r}$$ and the X-axis is the same as the X-axis
+of the base station.
+
+![Rotor reference frame](/docs/images/lighthouse/rotor_ref_frame.png)
+
+The axis of rotation is defined such that when $$\vec{r}$$ is pointing towards you, the drum is spinning counterclockwise.
+
+
+## Geometry data
+
+The geometry data (position $$\vec{p_{bs}}$$ and rotation matrix $$R_{bs}$$) describes the pose of a base station in the global coordinate system
+such that a point $$\vec{q_{bs}}$$ in the base station reference frame is transformed to the global reference frame by $$\vec{q} = \vec{p_{bs}} + R_{bs} \cdot \vec{q_{bs}}$$.
+
+## Rotors
+
+In relation to the base station reference frame we have
+
+| System type | rotor                                                | $$\vec{r}$$    |
+| ----------- | ---------------------------------------------------- | -------------- |
+| LH 1        | horizontal sweep (left to right seen from the front) | $$(0, 0, 1)$$  |
+| LH 1        | vertical sweep (down to up seen from the front)      | $$(0, -1, 0)$$ |
+| LH 2        | horizontal sweep (left to right seen from the front) | $$(0, 0, 1)$$  |
+
+The coordinate systems for the horizontal LH1 rotor and the LH2 rotor are identical to the base station reference frame.
+
+### Rotation angle
+
+Rotation angle $$\alpha=0$$ is forward, along the X axis in the rotor (and base station) reference frame.
+
+![Rotor rotation angle](/docs/images/lighthouse/rotor_rotaion_angle.png)
+
+**Note:** In LH2 the two light planes are offset from each other on the rotor by 120 degrees, but this offset is compensated for in the decoding
+part of the firmware. For a sensor placed along the X-axis, the measured $$\alpha = 0$$ for both light planes.
+
+### Light plane tilt
+
+There is a lens on the rotor spreading light in the form of a plane, rotating with the rotor. In LH1 the plane is oriented along the axis of rotation,
+sweeping the room when the rotor spins, while LH2 has two light planes that are tilted by an angle $$\pm t$$. $$t$$ is defined such that the plane is
+rotated counterclockwise with increasing $$t$$, seen from the front of the base station ($$\alpha = 0$$).
+
+![Rotor rotation angle](/docs/images/lighthouse/light_plane_tilt.png "Rotor seen from the front, with the lens straight forward")
+
+In the general form we have no tilt for the rotors of LH1, in LH2 the planes are tilted 30 degrees.
+
+| System type | rotor / light plane                                       | $$t$$              |
+| ----------- | --------------------------------------------------------- | ------------------ |
+| LH 1        | horizontal sweep (left to right seen from the front)      | 0                  |
+| LH 1        | vertical sweep (down to up seen from the front)           | 0                  |
+| LH 2        | horizontal sweep, first light plane                       | $$-\frac{\pi}{6}$$ |
+| LH 2        | horizontal sweep, second light plane                      | $$\frac{\pi}{6}$$  |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/loco-positioning-system/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/loco-positioning-system/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..f96440566bdd06cd6f91f8a8bd7fc3af1d926694
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/loco-positioning-system/index.md
@@ -0,0 +1,79 @@
+---
+title: The Loco Positioning System
+page_id: loco_positioning
+---
+
+The Loco Positioning System is an absolute positioning system based on Ultra Wide Band (UWB) radios.
+
+Most of the documentation for the Loco Positioning System can be found in the [lps-node-firmware repository documentation](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/), this is where protocols, principles and modes are described.
+
+This section contains details specific to the implementation in the Crazyflie, mainly estimator related information.
+
+## Position estimation
+
+When using the Loco Positioning System the [Kalman estimator](/docs/functional-areas/sensor-to-control/state_estimators.md#extended-kalman-filter) is used for position estimation. The two main ranging schemes used for UWB localization are (i) two-way ranging (TWR) and (ii) time-difference-of-arrival (TDoA). In this page, we elaborate the measurement model, Kalman filter update and robust estimation for both TWR and TDoA.
+
+### Two-way ranging (TWR)
+
+In TWR, the UWB tag mounted on the Crazyflie communicates with fixed UWB anchors and acquires range measurements through two-way communication. The measurement model is as follows:
+
+$$d_i = \sqrt{(x-x_i)^2 +(y-y_i)^2 + (z-z_i)^2}$$,
+
+where $$(x, y, z)$$ is the position of the Crazyflie and $$(x_i, y_i, z_i)$$ is the position of the fixed anchor i. For the conventional extended Kalman filter, we have
+
+$$g_x = (x-x_i) / d_i$$
+
+$$g_y = (y-y_i) / d_i$$
+
+$$g_z = (z-z_i) / d_i$$.
+
+The H vector is
+
+$$H = (g_x, g_y, g_z, 0, 0, 0, 0, 0, 0)$$.
+
+Then, we call the function `kalmanCoreScalarUpdate()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) to update the states and covariance matrix.
+
+### Time-difference-of-arrival (TDoA)
+In TDoA, UWB tags receive signals from anchors passively and compute the difference in distance beween two anchors as TDoA measurements. Since in TDoA scheme, UWB tags only listen to the messages from anchors, a TDoA-based localization system allows a theoretically unlimited number of robots to localize themselves with a small number of fixed anchors. However, TDoA measurements are more noisy than TWR measurements, leading to a less accurate localization performance. Two types of TDoA protocols ([TDoA2](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/tdoa2_protocol/) and [TDoA3](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/tdoa3_protocol/)) are implemented in LPS system. The main difference between the two TDoA protocols is that TDoA3 protocol achieves the scalability at the cost of localization accuracy. The readers are refer to [TDoA2 VS TDoA3](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/functional-areas/tdoa2-vs-tdoa3/) for detailed information.
+
+The TDoA measurement model is as follows:
+
+$$d_{ij} = d_j - d_i = \sqrt{(x-x_j)^2 +(y-y_j)^2 + (z-z_j)^2} - \sqrt{(x-x_i)^2 +(y-y_i)^2 + (z-z_i)^2}$$,
+
+where $$(x, y, z)$$ is the position of the Crazyflie and $$(x_i, y_i, z_i)$$ and $$(x_j, y_j, z_j)$$ are the positions of fixed anchor i and j, respectively. For the conventional extended Kalman filter, we have
+
+$$g_x = (x-x_j) / d_j - (x-x_i) / d_i$$
+
+$$g_y = (y-y_j) / d_j - (y-y_i) / d_i$$
+
+$$g_z = (z-z_j) / d_j - (z-z_i) / d_i$$.
+
+The H vector is
+
+$$H = (g_x, g_y, g_z, 0, 0, 0, 0, 0, 0)$$.
+
+Then, we call the function `kalmanCoreScalarUpdate()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) to update the states and covariance matrix.
+
+### M-estimation based robust Kalman filter
+UWB radio signal suffers from outlier measurements caused by radio multi-path reflection and non-line-of-sight propagation. The large erroneous measurements often deteriorate the accuracy of UWB localization. The conventional Kalman filter is sensitive to measurement outliers due to its intrinsic minimum mean-square-error (MMSE) criterion. Here, we provide a robust estiamtion approach based on M-estimation robust cost function. We will explain the general idea of the robust Kalman filter and readers are encouraged to look into the firmware [mm_distance_robust](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/mm_distance_robust.c) and [mm_tdoa_robust](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/mm_tdoa_robust.c). The implementation is based on paper [1] and please read the paper for implementation details.
+
+From the Bayesian maximum a posteriori perspective, the Kalman filter state estimation framework can be derived by solving the following minimization problem:
+
+![equation](/docs/images/rkf-eq1.png)
+
+Therein, $$x_k$$ and $$y_k$$ are the system state and measurements at timestep k, $$P_k$$ and $$R_k$$ denote the prior covariance and measurement covariance, respectively. Through Cholesky factorization of $$P_k$$ and $$R_k$    $, the original optimization problem is equivalent to:
+
+![equation](/docs/images/rkf-eq2.png)
+
+where $$e_{x,k,i}$$ and $$e_{y,k,i}$$ are the elements of $$e_{x,k}$$ and $$e_{y,k}$$. To reduce the influence of outliers, we incorporate a robust cost function into the Kalman filter framework as follows:
+
+![equation](/docs/images/rkf-eq3.png)
+
+where $$\rho()$$ could be any robust function (e.g., G-M, SC-DCS, Huber, Cauchy, etc.)
+
+By introducing a weight function for the process and measurement uncertainties---with e as input---we can translate the optimization problem into an Iterative Reweight Least-Square (IRLS) problem. Then, the optimal posterior estimate can be computed through iteratively solving the least-square problem using the robust weights computed from the previous solution. In our implementation, we use the G-M robust cost function and the maximum iteration is set to be two for computational frugality. Then, we call the function `kalmanCoreUpdateWithPKE()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) with the weighted covariance matrix $P_w_m$, kalman gain Km, and innovation error to update the states and covariance matrix.
+
+This functionality can be turned on through setting a parameter (robustTwr or robustTdoa) in [estimator_kalman.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_kalman.c).
+
+## References
+[1] Zhao, Wenda, Jacopo Panerati, and Angela P. Schoellig. "Learning-based Bias Correction for Time Difference of Arrival Ultra-wideband Localization of Resource-constrained Mobile Robots." IEEE Robotics and Automation Letters 6, no. 2 (2021): 3639-3646.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a16b6ea14912c81aee5669bcafd691efd1da5fc
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md
@@ -0,0 +1,7 @@
+---
+title: Generic application memory - MEM_TYPE_APP
+page_id: mem_type_app
+---
+
+This memory can be used by applications and the memory
+layout is application specific.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md
new file mode 100644
index 0000000000000000000000000000000000000000..dc0e0c239628cb6dbfbb7027f4ad1bbeb1a67919
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md
@@ -0,0 +1,75 @@
+---
+title: Deck memory - MEM_TYPE_DECK_MEM
+page_id: mem_type_deck_mem
+---
+
+This memory is used to access memory on decks when available. Decks that have firmware may also
+support firmware updates through write operations to the memory.
+
+The information section contains information that allows a client to enumerate installed decks,
+identify decks with firmware that needs to be updated and the address to write new firmware to.
+
+The information in a `Deck memory info` record is only valid if the `Is valid` bit is set to 1. The `Is Valid` bit
+is always valid, also when set to 0.
+
+Some decks may take a while to boot, the `Is started` bit indicates if the deck has started and is ready.
+Data in the `Deck memory info` record should only be used if both the `Is Valid` and the `Is started`
+bits are set.
+
+The firmware that is required by a deck is uniquely identified through the tuple `(required hash, required length, name)`.
+
+A deck driver may implement read and/or write operations to data on a deck, a camera deck could for
+instance proved image data through a memory read operation. The deck driver can freely choose the addresses
+where data is mapped. From a client point of view the address will be relative to the base address of the deck,
+the base address is aquired by a client from the information section.
+
+If a deck has firmware upgrade capabilities, the write address for firmware upgrades must allways be at 0 (relative
+to the base address). A deck is ready to receive FW if the `Bootloader active` flag is set.
+
+## Memory layout
+
+| Address           | Type         | Description                                              |
+|-------------------|--------------|----------------------------------------------------------|
+| 0x0000            | Info section | Information on installed decks and the mapping to memory |
+| deck 1 base addr  | raw memory   | Mapped to the memory on deck 1                           |
+| deck 2 base addr  | raw memory   | Mapped to the memory on deck 2                           |
+| deck 3 base addr  | raw memory   | Mapped to the memory on deck 3                           |
+| deck 4 base addr  | raw memory   | Mapped to the memory on deck 4                           |
+
+
+### Info section memory layout
+
+| Address | Type             | Description            |
+|---------|------------------|------------------------|
+| 0x0000  | uint8            | Version, currently 1   |
+| 0x0001  | Deck memory info | Information for deck 1 |
+| 0x0021  | Deck memory info | Information for deck 2 |
+| 0x0041  | Deck memory info | Information for deck 3 |
+| 0x0061  | Deck memory info | Information for deck 4 |
+
+
+### Deck memory info memory layout
+
+Addresses relative to the deck memory info base address
+
+| Address | Type        | Description                                                        |
+|---------|-------------|--------------------------------------------------------------------|
+| 0x0000  | uint8       | A bitfield describing the properties of the deck memory, see below |
+| 0x0001  | uint32      | required hash - the hash for the reuired firmware                  |
+| 0x0005  | uint32      | required length - the length of the required firmware              |
+| 0x0009  | uint32      | base address - the start address of the deck memory                |
+| 0x000D  | uint8\[19\] | name - zero terminated string, max 19 bytes in total.              |
+
+
+### Deck memory info bit field
+
+| Bit | Property          | 0                                                          | 1                                                   |
+|-----|-------------------|------------------------------------------------------------|-----------------------------------------------------|
+| 0   | Is valid          | no deck is installed or does not support memory operations | a deck is installed and the data is valid           |
+| 1   | Is started        | the deck is in start up mode, data is not reliable yet     | deck has started, data is reliable                  |
+| 3   | Supports write    | write not supported                                        | memory is writeable                                 |
+| 2   | Supports read     | read not supported                                         | memory is readable                                  |
+| 4   | Supports upgrade  | no upgradable firmware                                     | firmware upgrades possible                          |
+| 5   | Upgrade required  | the firmware is up to date                                 | the firmware needs to be upgraded                   |
+| 6   | Bootloader active | the deck is running FW                                     | the deck is in bootloader mode, ready to receive FW |
+| 7   | Reserved          |                                                            |                                                     |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md
new file mode 100644
index 0000000000000000000000000000000000000000..ea67e188ee321346136a93628a73add179dd0c1d
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md
@@ -0,0 +1,6 @@
+---
+title: EEPROM - MEM_TYPE_EEPROM
+page_id: mem_type_eeprom
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md
new file mode 100644
index 0000000000000000000000000000000000000000..0bcc6c25aadce6a04c435a79b79e42347f32e366
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md
@@ -0,0 +1,6 @@
+---
+title: LED ring - MEM_TYPE_LED12
+page_id: mem_type_led12
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md
new file mode 100644
index 0000000000000000000000000000000000000000..ba3d89d87c4a843c2a1adbb8fb3a7eb36da82003
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md
@@ -0,0 +1,6 @@
+---
+title: LED ring timing - MEM_TYPE_LEDMEM
+page_id: mem_type_ledmem
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md
new file mode 100644
index 0000000000000000000000000000000000000000..9a7a66f5fd05c11d63e72bba97df1e16c5947a70
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md
@@ -0,0 +1,50 @@
+---
+title: Lighthouse - MEM_TYPE_LH
+page_id: mem_type_lh
+---
+
+The lighthouse memory mapping is used to communicate geometry and
+calibration data. The implementation supports both read and write
+operations.
+
+## Memory layout
+
+| Address | Type             | Description                                     |
+|---------|------------------|-------------------------------------------------|
+| 0x0000  | Geometry data    | Geometry data for base station on channel 1     |
+| 0x0100  | Geometry data    | Geometry data for base station on channel 2     |
+| ...     | Geometry data    |                                                 |
+| 0x0f00  | Geometry data    | Geometry data for base station on channel 16    |
+| 0x1000  | Calibration data | Calibration data for base station on channel 1  |
+| 0x1100  | Calibration data | Calibration data for base station on channel 2  |
+| ...     | Calibration data |                                                 |
+| 0x1f00  | Calibration data | Calibration data for base station on channel 16 |
+
+### Geometry data memory layout
+
+| Address | Type                | Description                                                      |
+|---------|---------------------|------------------------------------------------------------------|
+| 0x0X00  | float (4 bytes) x 3 | Base station position, 3 element vector of floats (4 bytes)      |
+| 0x0X0C  | float (4 bytes) x 9 | Base station attitude, 3 x 3 rotation matrix of floats (4 bytes) |
+| 0x0X18  | uint8               | Is valid : 0 = the data is not valid, 1 = data is valid          |
+
+### Calibration data memory layout
+
+| Address | Type                   | Description                                             |
+|---------|------------------------|---------------------------------------------------------|
+| 0x0X00  | Calibration sweep data | Calibration data for first sweep                        |
+| 0x0X1C  | Calibration sweep data | Calibration data for second sweep                       |
+| 0x0X38  | uint32                 | Base station UID                                        |
+| 0x0X3C  | uint8                  | Is valid : 0 = the data is not valid, 1 = data is valid |
+
+#### Calibration sweep data memory layout
+
+| Address | Type | Description                             |
+|---------|------------------------------------------------|
+| 0x0X00  | float (4 bytes) | phase                        |
+| 0x0X04  | float (4 bytes) | tilt                         |
+| 0x0X08  | float (4 bytes) | curve                        |
+| 0x0X0C  | float (4 bytes) | gibmag                       |
+| 0x0X10  | float (4 bytes) | gibphase                     |
+| 0x0X14  | float (4 bytes) | ogeemag (only used in LH2)   |
+| 0x0X18  | float (4 bytes) | ogeephase (only used in LH2) |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md
new file mode 100644
index 0000000000000000000000000000000000000000..5e748ae0d7d147ae3b2428c2756de5d0818a2e87
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md
@@ -0,0 +1,6 @@
+---
+title: Loco Positioning System 1 - MEM_TYPE_LOCO
+page_id: mem_type_loco
+---
+
+This implementation is obsolete and remains for backwards compatibility.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md
new file mode 100644
index 0000000000000000000000000000000000000000..0c48fdd8276b13117f489f0a6f6b06bcf29c9897
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md
@@ -0,0 +1,35 @@
+---
+title: Loco Positioning System 2 - MEM_TYPE_LOCO2
+page_id: mem_type_loco2
+---
+
+The Loco Positioning System memory implementation provides means to read information about the
+Loco Positioning System. There is no write functionality.
+
+## Memory layout
+
+| Address              | Type        | Description                                                                |
+|----------------------|-------------|----------------------------------------------------------------------------|
+| 0x0000               | uint8       | number of anchors in the system (n)                                        |
+| 0x0001 - 0x0000 + n  | uint8       | unordered list of anchor ids in the system                                 |
+|                      |             |                                                                            |
+| 0x1000               | uint8       | number of active anchors in the system (na)                                |
+| 0x1001 - 0x1000 + na | uint8       | unordered list of anchor ids for the anchors in the system that are active |
+|                      |             |                                                                            |
+| 0x2000               | Anchor data | Data for anchor id 0 (if available)                                        |
+| 0x2100               | Anchor data | Data for anchor id 1 (if available)                                        |
+| ...                  | Anchor data |                                                                            |
+| 0x2000 + 0x100 * i   | Anchor data | Data for anchor id i (if available)                                        |
+| ...                  | Anchor data |                                                                            |
+| 0x11F00              | Anchor data | Data for anchor id 255 (if available)                                      |
+
+### Anchor data memory layout
+
+Address relative to start address for the anchor data
+
+| Address | Type            | Description                                             |
+|---------|-----------------|---------------------------------------------------------|
+| 0x0000  | float (4 bytes) | x coordinate of the anchor position                     |
+| 0x0004  | float (4 bytes) | y coordinate of the anchor position                     |
+| 0x0008  | float (4 bytes) | z coordinate of the anchor position                     |
+| 0x000C  | uint8           | Is valid : 0 = the data is not valid, 1 = data is valid |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md
new file mode 100644
index 0000000000000000000000000000000000000000..d17ed34b62aed292febcac067ea71134f208fa7d
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md
@@ -0,0 +1,6 @@
+---
+title: One wire memory - MEM_TYPE_OW
+page_id: mem_type_ow
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md
new file mode 100644
index 0000000000000000000000000000000000000000..52e858c17bf36f871933d69afe708ac1b01fdc41
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md
@@ -0,0 +1,6 @@
+---
+title: Test - MEM_TYPE_TESTER
+page_id: mem_type_tester
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md
new file mode 100644
index 0000000000000000000000000000000000000000..f372dfb396f4fa44fb9ee73bba98c31a7dbaafa2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md
@@ -0,0 +1,6 @@
+---
+title: Trajectory - MEM_TYPE_TRAJ
+page_id: mem_type_traj
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md
new file mode 100644
index 0000000000000000000000000000000000000000..1af849292db328aab4a63726a3293fde33f5ef5d
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md
@@ -0,0 +1,6 @@
+---
+title: uSD card - MEM_TYPE_USD
+page_id: mem_type_usd
+---
+
+TBD
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..946aa80c933ec2b89061318306d42e3abbe0d9c3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/memory-subsystem/index.md
@@ -0,0 +1,36 @@
+---
+title: The memory subsystem
+page_id: memory_subsystem
+---
+
+The memory subsystem is intended to be used for transfering larger chunks of data
+between a Crazyflie and a client where real time characteristics are not important.
+
+The memory subsystem uses the ```CRTP_PORT_MEM``` port for communication and supports basic read and write functionality of raw binary data. One packet on the CRTP level contains data for one read or write operation with information on address, size and type. A larger read or write is split up in multiple operations, where each sub-operation fits into one
+CRTP packet. The sub-operations should be done in order (from lower address to higher) and
+some read handlers may rely on this to update caches or similar when receiving the last part of a block.
+
+The type can be seen as the highest level of abstraction and indicates which memory
+the read/write operation will act on. There are a number of memory types (defined in ```MemoryType_t```) which each implements a read and/or write paradigm of selected parts of a virtual memory space, for a functional area of the system. A read/write
+implementation may be mapped directly to a block of RAM in the Crazyflie, but it can
+also be connected to other data structures through function calls where the
+virtual memory map is simply a means of organaizing data for transfer.
+
+A module in the Crazyflie firmware registeres handlers for read and/or write operations
+and the framwork calls the handlers with appropriate values when memory operations are
+initiated from a client.
+
+## Memory types and mappings
+
+* [EEPROM - MEM_TYPE_EEPROM](./MEM_TYPE_EEPROM.md)
+* [One wire memory - MEM_TYPE_OW](MEM_TYPE_OW.md)
+* [LED ring - MEM_TYPE_LED12](MEM_TYPE_LED12.md)
+* [Loco Positioning System 1 - MEM_TYPE_LOCO](MEM_TYPE_LOCO.md)
+* [Trajectory - MEM_TYPE_TRAJ](MEM_TYPE_TRAJ.md)
+* [Loco Positioning System 2 - MEM_TYPE_LOCO2](MEM_TYPE_LOCO2.md)
+* [Lighthouse - MEM_TYPE_LH](MEM_TYPE_LH.md)
+* [Test - MEM_TYPE_TESTER](MEM_TYPE_TESTER.md)
+* [uSD card - MEM_TYPE_USD](MEM_TYPE_USD.md)
+* [LED ring timing - MEM_TYPE_LEDMEM](MEM_TYPE_LEDMEM.md)
+* [Generic application memory - MEM_TYPE_APP](MEM_TYPE_APP.md)
+* [Deck memory - MEM_TYPE_DECK_MEM](MEM_TYPE_DECK_MEM.md)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/p2p_api.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/p2p_api.md
new file mode 100644
index 0000000000000000000000000000000000000000..41c2cc8e915d5f25c2e1386e679c59fd66ca5e95
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/p2p_api.md
@@ -0,0 +1,57 @@
+---
+title: Peer to Peer API
+page_id: p2p_api
+---
+
+## Introduction
+Currently peer to peer communication on the crazyflie is **in development**. Now an API is made available to send P2P 
+messages in broadcast mode, and we are going to extend this to unicast.
+
+P2P packets are sent and received on the same channel as the currently configured CRTP radio link. P2P packets are sent and received independently to regular CRTP packets. In order to allow for multiple appilication to use P2P communication at the same time a port number has been added to each packet, the intend being that independent service will use different P2P port. For the time being this port is not used by the API and keeping it to 0 unless otherwise needed is advised.
+
+Furthermore, P2P packets are only sent and received from the 2.4GHz internal Crazyflie radio independently of where the CRTP link is connect (ex. the CRTP link can be connecte over USB).
+
+The maximum data payload contained in a P2P packet is ```P2P_MAX_DATA_SIZE```. It is currently set to 60Bytes.
+
+## Using the P2P API
+Functions and structures are defined in the header file [src/hal/interface/radiolink.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/interface/radiolink.h). There is also an [app layer example](https://github.com/bitcraze/crazyflie-firmware/tree/master/examples/app_peer_to_peer) available in the example folder of the repository.
+
+## Peer to Peer broadcast
+
+#### Sending P2P broadcast
+
+From the STM, a packet can be sent using the ```radiolinkSendP2PPacketBroadcast``` function. For example:
+
+```c
+static P2PPacket pk;
+pk.port = 0;
+pk.size = 11;
+memcpy(pk.data, "Hello World", 11);
+radiolinkSendP2PPacketBroadcast(&pk);
+```
+
+This function will trigger a single P2P packet to be transmitted by the radio.
+
+#### Receiving P2P broadcast
+
+If you want to receive packet in your function, you can register a callback with:
+
+```c
+p2pRegisterCB(p2pcallbackHandler);
+```
+    
+with a function of the form of:
+```c
+void p2pcallbackHandler(P2PPacket *p)
+{
+  // p->port: P2P Port
+  // p->size: Payload size
+  // p->data: Payload data
+  // p->rssi: RSSI of the packet. 40 means -40dBm.
+}
+```
+
+The callback will be called by the task handling radio communication, it should then execute quickly (for example pushing data in a queue).
+
+
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/persistent_storage.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/persistent_storage.md
new file mode 100644
index 0000000000000000000000000000000000000000..bc11716e93c2840728319ee8c934505eaeb31cbc
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/persistent_storage.md
@@ -0,0 +1,48 @@
+---
+title: Persistent storage
+page_id: persistent_storage
+---
+
+# Persistent storage
+
+The crazyflie has a persistent storage subsystem that is intended to be used for configuration and other rarely written data.
+The 7kB of the internal EEPROM is used for storage.
+Fetching data should be fairly fast, storing data can be very slow if the storage space needs to be defragmented/garbage collected.
+
+The API is documented in the [storage.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/interface/storage.h).
+It currently only implements basic store/fetch/delete functions.
+The data stored are buffers and are stored and fetched using a key string.
+Care must be taken to not use generic keys in order to avoid collision.
+
+
+## Embedded KV format
+
+This is low level information about the format used to store data in the EEPROM.
+These information are not needed to use the storage api but can be useful if one want to modify or port the memory storage.
+
+The stored binary format is based on TLV (Type Length Value) but modified for the need of a dynamic storage.
+
+The format assumes it is working on a EEPROM since it does not implement a proper wear leveling.
+However, it can be noted that the format is already prepared to be used in flash allowing to append and discard entries without erasing the page: entries can be added and holes created by only writing zeros to a all-one memory. So, if modification are implemented using copy-on-write, this is effectively becoming a log-format and would fit a flash.
+
+### Basic format
+
+Each KV couple is written as:
+
+ - **Length** uint16_t: Length of the item, includes length, keylength, key and value.
+ - **KeyLength** uint8_t: Length of the key
+ - **Key** char*: Key
+ - **Value** void*: Data buffer
+
+KV couples are writen one after each other. If one KV is at memory position *n*, the next one will be at memory position *n + length*.
+
+If the key has a length of 0, it indicates a hole and the length indicates
+the offset to the next entry.
+
+A lenght of 0xffff means the end of the table.
+
+Holes are created when an entry is deleted or modified entries.
+
+New entries can be added either at the end of the table or in a hole that can fit the new buffer.
+
+When there is no more space for new entries, the memory should be defragmented by moving all items into the holes, packing all the items at the begining of the table.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/commanders_setpoints.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/commanders_setpoints.md
new file mode 100644
index 0000000000000000000000000000000000000000..29e88a3a5d93804591e9fed8f280bef4b3e3641b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/commanders_setpoints.md
@@ -0,0 +1,65 @@
+---
+title: The Commander Framework
+page_id: commanders_setpoints
+---
+
+
+This section will go into the commander framework, which handles the setpoint of the desired states, which the controllers will try to steer the estimated state to.
+
+ * [The Commander Module](#the-commander-module)
+ * [Setpoint Structure](#setpoint-structure)
+ * [High Level Commander](#high-level-commander)
+
+
+## The Commander Module
+
+![commander framework](/docs/images/commander_framework.png){:width="700"}
+
+The commander module handles the incoming setpoints from several sources (src/modules/src/commander.c in the [firmware](https://github.com/bitcraze/crazyflie-firmware)). A setpoint can be set directly, either through a python script using the [cflib](https://github.com/bitcraze/crazyflie-lib-python)/ [cfclient](https://github.com/bitcraze/crazyflie-clients-python) or [the app layer](/docs/userguides/app_layer.md) (blue pathways in the figure), or by the high-level commander module (purple pathway). The High-level commander in turn, can be controlled remotely from the python library or from inside the Crazyflie.
+
+It is important to realize that the commander module also checks how long ago a setpoint has been received. If it has been a little while (defined by threshold `COMMANDER_WDT_TIMEOUT_STABILIZE` in commander.c), it will set the attitude angles to 0 on order to keep the Crazyflie stabilized. If this takes longer than `COMMANDER_WDT_TIMEOUT_SHUTDOWN`, a null setpoint will be given which will result in the Crazyflie shutting down its motors and fall from the sky. This won’t happen if you are using the high level commander.
+
+[go back to top](#)
+
+## Setpoint Structure
+
+
+In order to understand the commander module, you must be able to comprehend the setpoint structure. The specific implementation can be found in src/modules/interface/stabilizer_types.h as setpoint_t in the Crazyflie firmware.
+
+There are 2 levels to control, which is:
+
+    Position (X, Y, Z)
+    Attitude (pitch, roll, yaw or in quaternions)
+
+These can be controlled in different modes, namely:
+
+    Absolute mode (modeAbs)
+    Velocity mode (modeVelocity)
+    Disabled (modeDisable)
+
+![commander framework](/docs/images/setpoint_structure.png){:width="700"}
+
+
+So if absolute position control is desired (go to point (1,0,1) in x,y,z), the controller will obey values given setpoint.position.xyz if setpoint.mode.xyz is set to modeAbs. If you rather want to control velocity (go 0.5 m/s in the x-direction), the controller will listen to the values given in setpoint.velocity.xyz if setpoint.mode.xyz is set to modeVel. All the attitude setpoint modes will be set then to disabled (modeDisabled). If only the attitude should be controlled, then all the position modes are set to modeDisabled. This happens for instance when you are controlling the crazyflie with a controller through the cfclient in attitude mode.
+
+[go back to top](#)
+
+
+## High Level Commander
+
+![high level commander](/docs/images/high_level_commander.png){:width="700"}
+
+As already explained before: The high level commander handles the setpoints from within the firmware based on a predefined trajectory. This was merged as part of the [Crazyswarm](https://crazyswarm.readthedocs.io/en/latest/) project of the [USC ACT lab](https://act.usc.edu/). The high-level commander uses a planner to generate smooth trajectories based on actions like ‘take off’, ‘go to’ or ‘land’ with 7th order polynomials. The planner generates a group of setpoints, which will be handled by the High level commander and send one by one to the commander framework.
+
+[go back to top](#)
+
+## Support in the python lib (CFLib)
+
+There are four main ways to interact with the commander framework from the [python library](https://github.com/bitcraze/crazyflie-lib-python)/.
+
+* **autonomousSequence.py**: Send setpoints directly using the Commander class from the Crazyflie object.
+* **motion_commander_demo.py**: The MotionCommander class exposes a simplified API and sends velocity setpoints continuously based on the methods called.
+* **autonomous_sequence_high_level.py**: Use the high level commander directly using the HighLevelCommander class on the Crazyflie object.
+* **position_commander_demo.py**: Use the PositionHlCommander class for a simplified API to send commands to the high level commander.
+
+[go back to top](#)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/configure_estimator_controller.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/configure_estimator_controller.md
new file mode 100644
index 0000000000000000000000000000000000000000..7db2a33db630a5acc99958d95bff0fd2cfb9c519
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/configure_estimator_controller.md
@@ -0,0 +1,52 @@
+---
+title: Configure estimator and controller
+page_id: config_est_ctrl
+---
+
+All the estimators and controllers are part of the standard firmware build and the active estimator and controller can be configured in runtime or compile time.
+
+## Estimators
+
+The available estimators are defined in the `StateEstimatorType` enum in `src/modules/interface/estimator.h`.
+
+### Setting in runtime
+
+To activate a specific estimator, set the `stabilizer.estimator` parameter to the appropriate value based on the `StateEstimatorType`.
+
+The parameter can be set from the python client, the python lib or from an app in the Crazyflie.
+
+### Default estimator
+
+The complementary estimator is the default estimator.
+
+Some decks require the kalman estimator and it is automatically activated when one of these decks are detected. The activated estimator is based on the .requiredEstimator member of the DeckDriver API.
+
+### Setting default estimator at compile time
+
+It is possible to force the use of a specific estimator at compile time by setting `ESTIMATOR`, see [Configure the build](/docs/building-and-flashing/build.md/#configmk).
+
+Example:
+
+`ESTIMATOR=kalman`
+
+## Controller
+
+The available controllers are defined in the `ControllerType` enum in `src/modules/interface/controller.h`.
+
+### Setting in runtime
+
+To activate a specific controller, set the `stabilizer.controller` parameter to the appropriate value based on the `ControllerType`.
+
+The parameter can be set from the python client, the python lib or from an app in the Crazyflie.
+
+### Default controller
+
+The PID controller is the default controller.
+
+### Setting at compile time
+
+It is possible to force the use of a specific controller at compile time by setting `CONTROLLER`, see [Configure the build](/docs/building-and-flashing/build.md/#configmk).
+
+Example:
+
+`CONTROLLER=Mellinger`
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/controllers.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/controllers.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f297777f05517e1a8ce436610f56e5f567674
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/controllers.md
@@ -0,0 +1,60 @@
+---
+title: Controllers in the Crazyflie
+page_id: controllers
+---
+
+
+Once the [state estimator](/docs/functional-areas/sensor-to-control/state_estimators.md) have outputed the current (estimated) situation of the crazyflie in position velocity and attitude, it is time for the controllers to keep it that way or to move the crazyflie into a new position based on a setpoint. This is an important part of the stabilization system in the crazyflie.
+
+ * [Overview of Control](#overview-of-control)
+ * [Cascaded PID controller](#cascaded-pid-controller)
+ * Mellinger Controller (TO DO)
+ * INDI Controller (TO DO)
+
+## Overview of control
+There are three levels to control in the crazyflie:
+* Attitude rate
+* Attitude absoluut
+* Position or velocity
+
+
+Here is an overview of the types of controllers there are per level:
+
+![controller overview](/docs/images/controller_overview.png){:width="500"}
+
+We will now explain per controller how exactly they are being implemented in the [crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware/).
+
+[go back to top](#)
+
+
+## Cascaded PID controller
+
+
+So the default settings in the Crazyflie firmware is the [proportional integral derivative (PID)](https://en.wikipedia.org/wiki/PID_controller) control for all desired state aspects. So the High Level Commander (HLC) or position will send desired position set-points to the PID position controller. These result in desired pitch and roll angles, which are sent directly to the attitude PID controller. These determine the desired angle rates which is send to the angle rate controller. This is also called Cascaded PID controller. That results in the desired thrusts for the roll pitch yaw and height that will be handled by the power distribution by the motors.
+
+
+Here is a block schematics of how the PID controllers are implemented.
+
+![cascaded pid controller](/docs/images/cascaded_pid_controller.png){:width="700"}
+
+Here are the different loops of the cascaded PID explained in more detail.
+
+### Attitude Rate PID controller
+
+The attitude rate PID controller is the one that directly controls the attitude rate. It resieves almost directly the gyroscope rates (through a bit of filtering first) takes the error between the desired attitude rate as input. This output the commands that is send directly to the power distribution ([power_distribution_stock.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/power_distribution_stock.c)). The control loop runs at 500 Hz.
+
+Check the implementation details in [attitude_pid_controller.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/attitude_pid_controller.c) in `attitudeControllerCorrectRatePID()`.
+
+### Attitude PID controller
+
+The absolute attitude PID controller is the outerloop of the attitude controller. This takes in the estimated attitude of the [state estimator](/docs/functional-areas/sensor-to-control/state_estimators.md), and takes the error of the desired attitude setpoint to control the attitude of the Crazyflie. The output is desired attitude rate which is send to the attitude rate controller. The control loop runs at 500 Hz.
+
+Check the implementation details in [attitude_pid_controller.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/attitude_pid_controller.c) in `attitudeControllerCorrectAttitudePID()`.
+
+### Position and Velocity Controller
+
+The most outerloop of the cascaded PID controller is the position and velocity controller. It receives position or velcoityinput from a commander which are handled, since it is possible to set in the variable `setpoint_t` which  stabilization mode to use `stab_mode_t` (either position:  `modeAbs` or `modeVelocity`). These can be found in [stabilizer_types.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/stabilizer_types.h). The control loop runs at 100 Hz.
+
+Check the implementation details in Check the implementation details in [position_controller_pid.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/position_controller_pid.c) in `positionController()` and  `velocityController()`.
+
+[go back to top](#)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..522ed8f4a9e73f8e6576010c1ecc35c6699c2bde
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/index.md
@@ -0,0 +1,102 @@
+---
+title: Stabilizer Module
+page_id: stabilizer_index
+---
+
+This page is meant as an introduction and overview of the path from
+sensor acquisition to motor control,also called the stabilizer module. It will not go into detail but it mostly give a general outline of how the sensor measurements go to the
+state estimators to the controllers and finally distributed to the motors
+by power distribution. Ofcourse, the motors have an affect on how the
+crazyflie flies and that inderectly has an effect on what the sensors
+detect in the next time step.
+
+ * [Sensors](#sensors)
+ * [State Estimation](#state-estimation)
+ * [State Controller](#state-controller)
+ * [Configure estimators and control](#configuring-controllers-and-estimators)
+ * [Commander Framework](#commander-framework)
+ * [Power Distribution](#power-distribution)
+
+
+
+### Overview
+
+![sensor](/docs/images/sensors_to_motors.png){:width="700"}
+
+## Modules
+
+
+### Sensors
+
+Sensors are essential for the flight of a crazyflie. Here is selection of the sensors
+ listed that the crazyflie eventually uses for state estimation:
+
+
+* [On-board Sensors](https://store.bitcraze.io/products/crazyflie-2-1)
+  * Accelerometer: acceleration in body fixed coordinates in m/s2
+  * Gyroscope: angle rate in roll pitch and yaw (rad/s)
+  * Pressure Sensor: Airpressure in mBar
+* [Flowdeck v2](https://store.bitcraze.io/products/flow-deck-v2)
+  * ToF sensor*:  Distance to a surface in milimeters
+  * Optical flow sensor:  The detection movement of pixels in px per timesample
+* [Loco positioning deck](https://store.bitcraze.io//products/loco-positioning-deck):
+  * Ultra Wide band module: The distance between two UWB modules or TDOA*** in meters.
+* [Lighthouse deck](https://store.bitcraze.io/products/lighthouse-positioning-deck):
+  * IR receivers: Sweep angle of htc vive basestations in radians.
+
+<sub><sup>_*Time-of-Flight_</sup></sub>
+
+<sub><sup>_**[Zranger v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2) also contains a laser-ranger_</sup></sub>
+
+<sub><sup>_***Time-difference of Arrival_</sup></sub>
+
+[go back to top](#)
+
+### State Estimation
+
+There are 2 state estimators in the crazyflie:
+* Complementary Filter
+* Extended Kalman Filter
+
+ Go to the [state estimation page](state_estimators.md) for more indepth information about how the state estimation is implemented in the crazyflie firmware.
+
+[go back to top](#)
+
+
+### State Controller
+There are 3 controllers in the crazyflie
+* PID controller
+* INDI controller
+* Mellinger controller
+
+Go to the [controllers page](controllers.md), for more indepth information about how the controllers are implemented in the crazyflie firmware.
+
+[go back to top](#)
+
+
+### Configuring Controllers and Estimators
+Go to this [configuration page](configure_estimator_controller.md), if you would like to configure different controllers and estmators,
+
+[go back to top](#)
+
+
+### Commander Framework
+An desired state can be handled by the setpoint structure in position or atitude, which can be set by the cflib or the highlevel commander.
+
+Go to the [commander page](commanders_setpoints.md), for more indepth information about how the commander framework are implemented in the crazyflie firmware, please go
+
+[go back to top](#)
+
+### Power Distribution
+
+After the state controller has send out its commands, this is not the end of the line yet.
+The controllers send out their commands relating to their yaw, roll and pitch angles.
+How the motors should respond in order to adhere these attitude based commands depends on a few factors:
+  * Quadrotor configuration (found in: [power_distribution_stock.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/power_distribution_stock.c)):
+    * x-configuration: The body fixed coordinate system's x-axis is pointed in between two propellors (Default)
+    * +-configuration: The body fixed coordinate system's x-axis is pointed in one propellor
+  * Motors:
+    * **Explaination about this will come soon**
+
+
+[go back to top](#)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/state_estimators.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/state_estimators.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b416a37c781bd8fc7af2175a085369657528ca9
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/sensor-to-control/state_estimators.md
@@ -0,0 +1,71 @@
+---
+title: State estimation
+page_id: state_estimators
+---
+
+
+
+A state estimator turns sensor signals into an estimate of the state that the crazyflie is in. This is an essential part of crazyflie's stabilizing system, as explained in the [overview page](/docs/functional-areas/sensor-to-control/index.md). State estimation is really important in quadrotors (and robotics in general). The Crazyflie needs to first of all know in which angles it is at (roll, pitch, yaw). If it would be flying at a few degrees slanted in roll, the crazyflie would accelerate into that direction. Therefore the controller need to know an good estimate of current angles’ state and compensate for it. For a step higher in autonomy, a good position estimate becomes important too, since you would like it to move reliably from A to B.
+
+* [Complementary filter](#complementary-filter)
+* [Extended Kalman filter](#extended-kalman-filter)
+* [References](#references)
+
+## Complementary filter
+
+![complementary filter](/docs/images/complementary_filter.png){:width="500"}
+
+The complementary filter is consider a very lightweight and efficient filter which in general only uses the IMU input of the gyroscope (angle rate) and the accelerator. The estimator has been extended to also include input of the ToF distance measurement of the [Zranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2). The estimated output is the Crazyflie’s attitude (roll, pitch, yaw) and its altitude (in the z direction). These values can be used by the controller and are meant to be used for manual control.
+
+To checkout the implementation details, please checkout the firmware in [estimator_complementary.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_complementary.c) and [sensfusion6.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/sensfusion6.c). The complementary filter is set as the default state estimator on the Crazyflie firmware, unless a deck is mounted that requires the kalman filter.
+
+[go back to top](#)
+
+## Extended Kalman filter
+
+![extended kalman filter](/docs/images/extended_kalman_filter.png){:width="500"}
+
+The (extended) Kalman filter (EKF) is an step up in complexity compared to the complementary filter, as it accepts more sensor inputs of both internal and external sensors. It is an recursive filter that estimates the current state of the Crazyflie based on incoming measurements (in combination with a predicted standard deviation of the noise), the measurement model and the model of the system itself.
+
+We will not go into detail on this but we encourage people to learn more about EKFs by reading up some material like [this](https://idsc.ethz.ch/education/lectures/recursive-estimation.html).
+
+Because of more state estimation possibilities, we prefer the EKF for certain decks that can provide information for **full pose estimation** (position/velocity + attitude). These are the:
+
+ * [Flowdeck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2)
+ * [Loco positioning deck](https://store.bitcraze.io/collections/positioning/products/loco-positioning-deck)
+ * [Lighthouse deck](https://store.bitcraze.io/products/lighthouse-positioning-deck).
+ * Mocap deck [passive](https://store.bitcraze.io/products/motion-capture-marker-deck) or [active](https://store.bitcraze.io/products/active-marker-deck)
+
+ When the `DeckDriver` is initialized in the [crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware/), for these decks the variable `.requiredEstimator` is set to `kalmanEstimator`. This says that the firmware should not use the default complementary filter but the EKF instead.
+
+Here we will explain a couple of important elements that are essential to the implementation, however we do encourage people to also look into the code [estimator_kalman.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_kalman.c) and [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c). Also read the papers of [1] and [2] for implementation details.
+
+### Kalman supervisor
+
+The Kalman filter has an supervisor that resets the state estimation if the values get out of bounds. This can be found here in [kalman_supervisor.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_supervisor.c).
+
+### Measurement Models
+
+This section will explain how the signals of the sensors are transformed to state estimates. These equations are the base of the measurement models of the EKF.
+
+* [Flowdeck Measurement Model](#flowdeck-measurement-model)
+* Locodeck Measurement Model (TODO)
+* [Lighthouse Measurement Model](/docs/functional-areas/lighthouse/kalman_measurement_model.md)
+
+
+#### Flowdeck Measurement Model
+
+This illustration explains how the height from the VL53L1x sensor and flow from the PMW3901 sensor are combined to calculate velocity. This has been implemented by the work of [3] and can be found in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c) in the function `kalmanCoreUpdateWithFlow()`.
+
+![flowdeck velocity](/docs/images/flowdeck_velocity.png){:width="500"}
+
+
+[go back to top](#)
+
+
+## References
+[1] Mueller, Mark W., Michael Hamer, and Raffaello D'Andrea. "Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation." 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015.
+
+[2] Mueller, Mark W., Markus Hehn, and Raffaello D’Andrea. "Covariance correction step for kalman filtering with an attitude." Journal of Guidance, Control, and Dynamics 40.9 (2017): 2301-2306.
+
+[3] M. Greiff, Modelling and Control of the Crazyflie Quadrotor for Aggressive and Autonomous Flight by Optical Flow Driven State Estimation, Master’s thesis, Lund University, 2017
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/trajectory_formats.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/trajectory_formats.md
new file mode 100644
index 0000000000000000000000000000000000000000..8cb41cf8136101f4eb8913bcd6490ab5d0f81f94
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/functional-areas/trajectory_formats.md
@@ -0,0 +1,132 @@
+---
+title: Trajectory formats
+page_id: trajectory_formats
+---
+
+This document describes how the Crazyflie high-level commander stores
+trajectories in the internal trajectory memory.
+
+Trajectories for the high-level commander may be stored in one of two formats.
+either as a sequence of raw 7th degree polynomials, or as a more space-efficient
+representation using the same polynomials in Bernstein form. In both cases, a
+single segment stores a duration and one polynomial for each of the X, Y, Z and
+yaw coordinates of the trajectory.
+
+Raw representation
+------------------
+
+The raw representation stores the coefficients of the polynomial describing
+the X coordinate of the trajectory first, starting with the constant term and
+ending with the 7th degree term, followed by the terms of the polynomials
+describing the Y, Z and yaw coordinates, and the duration of the segment itself
+in seconds. Each term and the duration is encoded as standard IEEE
+single-precision floats, meaning that a single segment requires 132 bytes:
+8x4 floats for the X, Y, Z and yaw components per trajectory segment, plus one
+additional float per segment to store its duration. Given that the default
+size of the trajectory memory is 4 Kbytes, you can only store 31 segments.
+
+Compressed representation
+-------------------------
+
+The compressed representation was designed to be more space-efficient than the
+raw representation while still trying to maintain almost the same degree of
+accuracy as the raw representation.
+
+The general guidelines of this representation are as follows:
+
+* Durations are represented as milliseconds and are stored as signed 2-byte
+  integers.
+
+* Spatial coordinates (X, Y and Z) are represented as millimeters and are stored
+  as signed 2-byte integers, meaning that the maximum spatial volume that this
+  representation can cover is roughly 64m x 64m x 64m, assuming that the origin
+  is at the center.
+
+* Angles (for the yaw coordinate) are represented as 1/10th of degrees and are
+  stored as signed 2-byte integers.
+
+* Trajectory segments are described with varying degrees of Bézier curves,
+  ranging from degree 0 (constant) to degree 7 (full 7D polynomial, as in the
+  raw representation).
+
+The compressed representation starts with the description of the starting point
+of the trajectory:
+
+```
++--------------+--------------+--------------+--------------+
+| X coordinate | Y coordinate | Z coordinate | Initial yaw  |
++--------------+--------------+--------------+--------------+
+```
+
+This is then followed by data blocks describing the individual segments - one
+data block per segment:
+
+```
++------------------+----------------+------------------+----------------+-----+
+| Segment 1 header | Segment 1 body | Segment 2 header | Segment 2 body | ... |
++------------------+----------------+------------------+----------------+-----+
+```
+
+The header of a segment is three bytes long. The first byte describes how the
+X, Y, Z and yaw coordinates will be encoded in the body of the data block. The
+remaining two bytes contain the duration of the segment:
+
+```
+  Bits 6-7     Bits 4-5   Bits 2-3   Bits 0-1        Byte 2         Byte 3
++------------+----------+----------+----------+  +--------------+--------------+
+| Yaw format | Z format | Y format | X format |  | Duration LSB | Duration MSB |
++------------+----------+----------+----------+  +--------------+--------------+
+```
+
+For each of the X, Y, Z and yaw coordiates, there are two bits in the first byte
+of the header. `00` means that the coordinate is constant throughout the
+section (i.e. it is a zero-order Bézier curve). `01` means that the coordinate
+changes linearly (it is a Bézier curve of order 1). `10` means that the
+coordinate changes according to a cubic Bézier curve. `11` means that the
+coordinate changes according to a full 7th degree polynomial, expressed again
+as a 7th degree Bézier curve.
+
+For instance, a header containing `0x0a 0xd0 0x07` means that the segment is
+2000 milliseconds long (because `0x07d0` = 2000), and it will have a constant
+yaw and Z coordinate. Cubic Bézier curves will be used to describe the X and
+Y coordinates of the segment. (This is because `0x0a` = `00 00 10 10` in
+binary).
+
+Note that the choice of Bézier curves means that we need to store not the raw
+coefficients of the corresponding polynomials (which may be anywhere in the full
+4-byte float range), but the coordinates of the _control points_ of the Bézier
+curves, whose range is much more predictable and easier to represent with a
+fixed millimeter-scale quantization.
+
+The body of the segment is then simply a concatenation of the control points
+for the X, Y, Z and yaw coordinates, _omitting the first control point_
+because it is always the same as the last control point of the previous
+segment. (That's why we needed to store the starting point of the trajectory
+separately).
+
+```
++----------------------+----------------------+----------------------+------------------------+
+| Control points for X | Control points for Y | Control points for Z | Control points for yaw |
++----------------------+----------------------+----------------------+------------------------+
+```
+
+Obviously, when the header specifies that a coordinate is constant, it means
+that we do not need to store the control points for that coordinate at all
+(there would be only a single control point, but we already know that it is
+the same as the last control point of the previous segment). For linear
+segments, we only need to store the end of the segment. For cubic Bézier
+segments, we need to store the first and second control point and the end
+of the segment. This can result in significant space savings if the trajectory
+consists mostly of linear segments and cubic Bézier curves, especially if the
+yaw does not change, or if the movement mostly occurs in the X-Y, X-Z or Y-Z
+plane. Note that cubic Bézier curves are enough to ensure C0, C1 and C2
+continuity (inposition, velocity and acceleration) for the trajectories.
+
+Internally, whenever the high-level commander starts processing a trajectory
+segment that is encoded using the compressed representation, it converts the
+Bézier curve back into its raw polynomial representation. It means that most of
+the codebase only needs to work with raw 7th degree polynomials.
+
+A downside of the compressed representation is that it is hard to play the
+trajectory backwards. The current implementation does not support reverse
+traversal at all.
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index 0000000000000000000000000000000000000000..562cc28df4255e63edcdac3c654ee7c99c57d762
--- /dev/null
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@@ -0,0 +1,21 @@
+---
+title: Home
+page_id: home
+---
+
+This project contains the documentation of the source code for the firmware used in the Crazyflie range of platforms.
+
+## The Crazyflie 2.X family
+
+This firmware suports the Crazyflie 2.X range of platforms, currently including:
+
+* The Crazyflie 2.0
+* The Crazyflie 2.1
+* The Crazyflie Bolt
+* The Roadrunner
+
+### Crazyflie 1.0
+
+The Crazyflie 1.0 is no longer supported, the 2017.06 release was the last release with Crazyflie 1.0 support. If you want
+to play with the Crazyflie 1.0 and modify the code, please clone this repo and
+branch off from the 2017.06 tag.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/app_layer.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/app_layer.md
new file mode 100644
index 0000000000000000000000000000000000000000..3991df57322dfcd21c2a4afc6436996b8751772a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/app_layer.md
@@ -0,0 +1,43 @@
+---
+title: App layer
+page_id: app_layer
+---
+
+## Introduction
+
+The app-layer is a set of functionality and APIs to allow user to add custom code to the Crazyflie.
+This is still an experimental functionalities but the intention is to eventually provide documentation and APIs to easily extend the Crazyflie and implement autonomous capabilities.
+
+## App entry-point
+
+When compiling the Crazyflie with ```APP=1``` writen either in the Makefile or in ```tools/make/config.mk``` the firmware will call a function ```void appMain()``` from a task after the startup sequence has completed.
+This function should not return.
+
+If you want more control, you can define a function ```void appInit()```. ```appInit()``` will be called by the firmware during initialisation, no task will be created and so ```appMain()``` will not be automaticall called.
+This function must return to allow the Crazyflie initialization sequence to continue.
+
+The folowing Makefile variables can be used for configuration:
+
+ - **APP**: Set to '1' to enable the app entry-point
+ - **APP_STACKSIZE**: Set the task stack size in 32bit word (4 Bytes). The default is 300 (1.2KBytes)
+ - **APP_PRIORITY**: Set the task priority between 0 and 5. Default is 0 (same as IDLE).
+
+## Internal log and param system
+
+For the app-layer, it would be good to have access to log and/or parameter values and to set parameter values. This way, your app will be able to read out sensor data or to switch controller/estimator on air. To check out these functions, look at src/modules/interface/log.h or .../param.h for the internal access functions. There is also an example to be found in /examples/app_internal_param_log/.
+
+## LED sequences
+
+It is possible to run LED sequences from the app layer to control the four LEDs on the Crazyflie and provide runtime information to the user. See the src/hal/interface/ledseq.h file for more information.
+
+## App channel: packet based communication between the Crazyflie and the Python lib
+
+The Appchannel API allows to communicate using radio packets with an app.
+The packets can contain anything of a size up to 31 bytes, the protocol is defined by the app.
+
+For more information about the API see the header file src/modules/interface/app_channel.h.
+An example of how to use the app channel is in examples/app_appchannel_test/
+
+## Examples
+
+In the [example folder](https://github.com/bitcraze/crazyflie-firmware/tree/master/examples) of the crazyflie-firmware repository, there are several examples showing how to use the app layer, including a simple hello world example.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/deck.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/deck.md
new file mode 100644
index 0000000000000000000000000000000000000000..ddebe190b8d10d1e39002e8aa828367fbea57759
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/deck.md
@@ -0,0 +1,112 @@
+---
+title: Deck API
+page_id: deck
+---
+
+The Deck API allows to easily communicates with decks installed on the
+Crazyflie. The deck API is still in development, it will:
+
+-   Enumerates installed Deck and initialize drivers (*pretty much
+    done*)
+-   Provides easy to use arduino-like API to access (*started*)
+-   Optionally provides a task to run in (arduino-like setup and loop)
+    (*not started yet*)
+
+If you want to get started you can follow the
+[howto](/docs/development/howto.md) to get your code
+running.
+
+Deck drivers
+------------
+
+Decks are enumerated automatically using a One Wire (OW) memory soldered
+on the deck PCB. The Deck driver API is using a declarative syntax to
+register deck drivers and initialize them when the proper deck is
+installed.
+
+### Minimal driver
+
+This is a minimal deck driver, myled.c:
+
+``` {.c}
+#include "deck.h"
+
+void myledInit(DeckInfo *info)
+{
+  pinMode(DECK_GPIO_IO1, OUTPUT);     // Set my Led pin to output
+  digitalWrite(DECK_GPIO_IO1, HIGH);  // Light it up
+}
+
+bool myledTest()
+{
+  return true;
+}
+
+const DeckDriver myled_driver = {
+  .vid = 0,
+  .pid = 0,
+  .name = "meMyled",
+
+
+  .usedGpio = DECK_USING_IO_1,
+
+  .init = myledInit,
+  .test = myledTest,
+};
+
+DECK_DRIVER(myled_driver);
+```
+
+-   At startup the decks are enumerated and if a deck has the name
+    \"meMyled\", it will be initialized.
+-   Init is called on all initialized driver and then test is called.
+-   The init and test functions are both optional (we have some board
+    with only init and event some with only test). If absent just remove
+    the *.init* or *.test* initialisation.
+-   In this mode no task are created so to run some code at regular
+    intervale the code needs to deal with freeRtos or with the other
+    parts of the Crazyflie code.
+
+To compile the driver, place it in deck/drivers/src/ and add it to the
+Makefile:
+
+``` {.make}
+PROJ_OBJ += myled.o
+```
+
+### Forcing initialization of a driver
+
+The deck driver will be initialized only if a deck is connected with the
+right OW memory content. During development it is possible to force the
+initialisation of a deck by adding a define in
+\`\`\`tools/make/config.mk\`\`\`:
+
+``` {.make}
+CFLAGS += -DDECK_FORCE=meMyled
+```
+
+### Driver declaration API
+
+*DECK\_DRIVER(const struct DeckDriver)*
+
+To register a deck driver the DECK\_DRIVER() macro should be called with
+a deck structure as argument.
+
+#### DeckDriver structure
+
+``` {.c}
+typedef struct deck_driver {
+  /* Identification of the deck (written in the board) */
+  uint8_t vid;
+  uint8_t pid;
+  char *name;
+
+  /* Periphreal and Gpio used _dirrectly_ by the driver */
+  uint32_t usedPeriph;
+  uint32_t usedGpio;
+
+  /* Init and test functions */
+  void (*init)(struct deckInfo_s *);
+  bool (*test)(void);
+} DeckDriver;
+```
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/active-marker-deck.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/active-marker-deck.md
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index 0000000000000000000000000000000000000000..54ae96a37265ab16a505dc04dcab138ef57623ed
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/active-marker-deck.md
@@ -0,0 +1,46 @@
+---
+title: Active marker deck
+page_id: active-marker-deck
+---
+
+The Active Marker deck is mainly designed for [Qualisys mocap systems](https://www.qualisys.com/) and supports Qualisys Active markers, but it can also be used with other systems in a simplified mode. The deck has 4 arms with one IR LED on the tip of each arm and a light sensor in the center of the deck.
+
+The deck is configured using the [parameter sub system](/docs/userguides/logparam.md), for details on which parameter to use, see below.
+
+## Modes
+
+The deck mode is set with the ```activeMarker.mode``` parameter.
+
+| Mode      | value       | comment                      |
+| --------- | ----------- | ---------------------------- |
+| OFF       | 0           | Always off                   |
+| PWM       | 1           | Always on, PWM modulated     |
+| MODULATED | 2           | Switching                    |
+| QUALISYS  | 3 (default) | Qualisys Active Marker mode  |
+
+### Off mode
+
+All marker LEDs are turned off.
+
+### PWM mode
+
+The marker LEDs are turned on and PWM modulated. The brightness of each LED is controlled by the [marker parameters](#marker-parameters) below, in the range 0 - 255.
+
+### Modulated mode
+
+The LEDs are switched on and off at around 42 kHz (24 micro seconds cycle). The brightness of the LEDs during the "on" part of the cycle is controlled by the [marker parameters](#marker-parameters) below, in the range 0 - 255.
+
+### Qualisys mode
+
+In this mode the LEDs act as Active markers with IDs that are identified by the Qualisys system and used for better 6-dof identification and tracking. The IDs are controlled by the [marker parameters](#marker-parameters) below. The Qualisys systems and the deck currently supports IDs in the range [0 - 170]
+
+## Marker parameters
+
+Each marker is associated with a parameters that is used to set brightness or id.
+
+| Marker position | parameter                | default value | type              |
+| --------------- | ------------------------ | ------------- | ----------------- |
+| Front           | ```activeMarker.front``` |  1            | ```PARAM_UINT8``` |
+| Right           | ```activeMarker.right``` |  2            | ```PARAM_UINT8``` |
+| Back            | ```activeMarker.back```  |  3            | ```PARAM_UINT8``` |
+| Left            | ```activeMarker.left```  |  4            | ```PARAM_UINT8``` |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/buzzer-deck.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/buzzer-deck.md
new file mode 100644
index 0000000000000000000000000000000000000000..8dbe6395378d01e967c12816b5bd12aa71341dbd
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/buzzer-deck.md
@@ -0,0 +1,26 @@
+---
+title: Buzzer Deck
+page_id: buzzer-deck
+---
+
+## Changing the sounds 
+
+
+
+Changing the sounds requires modifications to the firmware. The code for the sounds is located in [sound_cf.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/sound_cf2.c). 
+
+A sequences is defined in the .notes member of the Melody struct. The notes are defined as tuples of a note (pitch) and duration. A sequence must be ended with the end marker.
+
+The effects are defined in the effects array. Each entry takes a function to call and related parameters.
+To add a new melody, use the melodyplayer function for the .call member and assign your Melody struct to the .melody member.
+
+## Parameters 
+
+
+
+|Name|Type|Access|Value (default)|Description|
+|---|----|---|---|---
+|sound.effect|uint8_t|RW|0|Sound effect (0=Off, 1=Factory test, 2=USB connected, 3=USB disconnected, 4=Charging done, 5=Low battery, 6=Startup, 7=Calibrated, 8=Range slow, 9=Range fast, 10=Star Wars Imperial March, 11=Bypass (change sound with sound.freg), 12=Siren, 13=Tilt (tilt the Crazyflie to play the sound))|
+|sound.freq|uint16_t|RW|4000| |
+|sound.neffect|uint32_t|RO|13|Number of available sound effects|
+|sound.ratio|uint8_t|RW|0| |
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/index.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..10c4df7c74b4fb9858361c4c134b8e175f51e13a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/index.md
@@ -0,0 +1,11 @@
+---
+title: Decks
+page_id: decks-index
+---
+
+Crazyflie expansion decks add new sensors and functionality to the Crazyflie. The firmware part of each deck is implemented as a [deck driver](/docs/development/howto.md) and adds functionality spcific to the deck. Read more about the functionality and implementation of each deck in the list below.
+
+* [Active Marker deck](/docs/userguides/decks/active-marker-deck.md)
+* [Micro-SD card deck](/docs/userguides/decks/micro-sd-card-deck.md)
+* [Buzzer deck](/docs/userguides/decks/buzzer-deck.md)
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/micro-sd-card-deck.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/micro-sd-card-deck.md
new file mode 100644
index 0000000000000000000000000000000000000000..6bcf7d16804be89f36fbe490faec056c2ccbebcb
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/decks/micro-sd-card-deck.md
@@ -0,0 +1,91 @@
+---
+title: Micro-SD card deck
+page_id: micro-sd-card-deck
+---
+
+The microSD card deck allows to attach a micro SD card to the Crazyflie for reading and writing files. The default firmware additionally supports to use the uSD card for high-speed logging of [logging variables](/docs/userguides/logparam.md) at rates up to 1 kHz.
+
+## Hardware
+
+The specification of the deck can be found in the [wiki](https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:microsd).
+
+## File system
+
+The SD-card used in the deck must be formatted as a FAT32 file system (exFAT does not work).
+
+We use [FatFS](http://elm-chan.org/fsw/ff/00index_e.html) as the file system handler. Have a look at the API and examples on the FatFS site fore usage information.
+
+The FatFS module will be initialized by the micro-SD deck driver when the deck is detected. After that the API calls can be used such as `f_mount`, `f_open`, `f_read`, `f_close` etc.
+
+## Data Logging
+
+Without any changes to `usddeck.c` there's a data logging functionality implemented. It can be enabled and configured by placing a config file on the µSD-Card. The file is a simple text file and an example is available [config.txt](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/config.txt). The file format is as follows:
+
+```
+1     # version
+512   # buffer size in bytes
+log   # file name
+0     # enable on startup (0/1)
+on:fixedFrequency
+100     # frequency in Hz
+1     # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
+log entry 1
+log entry 2
+log entry 3
+...
+on:myEvent1
+log entry 4
+log entry 5
+...
+on:myEvent2
+...
+```
+
+The config file supports logging of [log variables](/docs/userguides/logparam.md) as well as [event triggers](/docs/userguides/eventtrigger.md).
+For the fixed frequency logging, the frequency is an integer value in Hertz, for example 250 means that a data block is written every 4ms. The buffer size is used to decouple the writing to the card and the data logging. Higher frequencies require a larger buffer, otherwise some data might be lost. The Crazyflie console will show how many events had to be discarded due to insufficient buffer size:
+```
+uSD: Wrote 161378 B to: log00 (2237 of 2237 events)
+```
+In general, logging 10 variables with 1kHz works well with a buffer of 512 Bytes. But you may have to try around a bit to get feeling on what is possible.
+
+The file name should be 10 characters or less and a running number is appended automatically (e.g., if the file name is log, there will be files log00, log01, log02 etc.). The log entries are the names of logging variables in the firmware.
+
+The `config.txt` file will be read only once on startup, therefore make sure that the µSD-Card is inserted before power up. If everything seems to be fine a µSD-task will be created and buffer space will be allocated. If malloc fails the Crazyflie will be stuck with LED M1 and M4 glowing. Data logging starts automatically after sensor calibration if `enable on startup` in `config.txt` was set to 1. Otherwise, logging can be started by setting the `usd.logging` parameter to 1. The logfiles will be enumerated in ascending order from 00-99 to allow multiple logs without the need of creating new config files. Just reset the Crazyflie to start a new file. Logging needs to be explicitly stopped by setting the `usd.logging` parameter to 0, which protects the logfile data with a CRC32.
+
+## Data Analysis
+
+For performance reasons the logfile is a binary file, using the following format (version 2):
+
+```
+uint8_t 0xBC header
+uint16_t version
+uint16_t num_event_types
+for each event type:
+   uint16_t event_id
+   eventName<null>
+   uint16_t num_variables
+   varname1(vartype1)<null>varname2(vartype2)<null>...<null>varnameN(vartypeN)<null>
+for each event:
+   uint16_t event_id
+   uint64_t timestamp (in microseconds)
+   data (length defined by TOC event type)
+```
+
+Here, the vartype is a singe character and we support a subset of the ones defined [here](https://docs.python.org/3/library/struct.html#format-characters).
+
+We provide a [helper script](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/cfusdlog.py) to decode the data:
+
+```
+import cfusdlog
+logData = cfusdlog.decode(fileName)
+```
+
+where fileName is a file from the µSD-Card. For convenience there is also an [example.py](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/example.py) which shows how to access and plot the data.
+
+## Alternate Pins
+
+The SD-Card is using the SPI bus on the deck port to communicate. In some cases, it might be beneficial to use another SPI bus. One option is to use a "hidden" SPI on the deck port that is multiplexed with TX1, RX1 and IO_4. This SPI port is called SPI3 in the STM32F405 and there is a possibility to switch to this SPI bus.
+
+  - First thing the SD-card deck needs to be patched, CS->RX2(PA3), SCLK->TX1(PC10), MISO->RX1(PC11), MOSI->IO_4(PC12) and this is a quite hard to cut the small lines and solder small patch wires. Easier is to use a sd-card breakout deck such as [this](https://www.sparkfun.com/products/544) and solder wires to e.g. the battery holder board.
+  - Compile the firmware with `CFLAGS += -DUSDDECK_USE_ALT_PINS_AND_SPI` in your config.mk file.
+  - If you want to use the Loco-deck at the same time, the alternative pins for this must be used. This means cutting GS1 and GS2 underneath the loco-deck and soldering the bridged GS3 and GS4. Then add `CFLAGS += -DLOCODECK_USE_ALT_PINS` to you config.mk as well.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/eventtrigger.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/eventtrigger.md
new file mode 100644
index 0000000000000000000000000000000000000000..6ec2bfbf41af67489a799d91fccbb30fd485b51f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/eventtrigger.md
@@ -0,0 +1,43 @@
+---
+title: Event Trigger framework
+page_id: eventtrigger
+---
+
+The aim of the event trigger framework is to be able to log events and their payloads
+synchronously. Thus, event triggers are closely related to the [Logging Framework](/docs/userguides/logparam.md), which
+logs data asynchronously. One key use-case of the event trigger framework is to analyze different state estimators.
+For each measurement that is pushed into the current state estimator, an event with the appropriate payload containing
+the measurement can be stored for later analysis.
+
+## Add Event Triggers in the Firmware
+
+In order to add a new event trigger named `myEvent` with a payload of two variables, you have to add the following near the top of your *.c file:
+
+``` {.c}
+#include "eventtrigger.h"
+
+// declares eventTrigger_myEvent and eventTrigger_myEvent_payload
+EVENTTRIGGER(myEvent, uint8, var1, float, var2)
+```
+
+The EVENTTRIGGER macro is variadic, i.e. it can take a varying number of arguments. It is also valid to have a event trigger without any payload.
+Internally, the macro generates code that declares several static variables. Details can be found in [eventtrigger.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/eventtrigger.h).
+
+Once the event trigger is defined, it can be triggered anywhere in the source code of the same *.c file:
+
+``` {.c}
+// set the payload
+eventTrigger_myEvent_payload.var1 = some_value_related_to_the_event;
+eventTrigger_myEvent_payload.var2 = another_value_related_to_the_event;
+// trigger the event
+eventTrigger(&eventTrigger_myEvent);
+```
+
+Users can configure to log additional regular logging variables for each event, so the payload should be limited to mandatory data that identifies the event.
+For example, if a new measurement is enqueued in the state estimator, the actual measurement should be included as payload, while the (constant) standard deviation 
+should not be part of it.
+
+## Using Event Triggers
+
+Currently, the only backend for event triggers is the uSD-card deck. You can find a description of how to configure
+and analyze the events in its [documentation](/docs/userguides/decks/micro-sd-card-deck.md).
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/logparam.md b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/logparam.md
new file mode 100644
index 0000000000000000000000000000000000000000..2eb3473140f3f8a42a939fa353b58726e26895cc
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/docs/userguides/logparam.md
@@ -0,0 +1,212 @@
+---
+title: Logging and parameter frameworks
+page_id: logparam
+---
+
+The aim of the logging and parameter framework is to easily be able to
+log data from the Crazyflie and to set variables during runtime.
+
+## Table of content (TOC)
+
+The variables that are available for the logging/parameter framework is
+decided on compile-time for the Crazyflie firmware. Using C macros
+variables can be made available to the framework below are two examples,
+one for parameters and one for logging.
+
+A parameter or logging variable that is created with `PARAM_ADD_CORE` or `LOG_ADD_CORE` is considered stable API and will with a very high likelihood be available a cross firmware versions. All core parameters and logging variables must have documentation associated with it. See below for examples of the documentation syntax.
+
+This will make the parameters used to control the [LED-ring
+expansion](https://www.bitcraze.io/products/led-ring-deck/) available as
+parameters. Note that they have different types and that *neffect* is
+read-only.
+
+``` {.c}
+/**
+ * [Documenation for the ring group ...]
+ */
+PARAM_GROUP_START(ring)
+
+/**
+ * @brief [Documentation for the parameter below ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT8, effect, &effect)
+
+/**
+ * @brief [Documentation for the parameter effect ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT32 | PARAM_RONLY, neffect, &neffect)
+
+/**
+ * @brief [Documentation for the parameter effect ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT8, solidRed, &solidRed)
+
+[...]
+
+PARAM_ADD(PARAM_FLOAT, emptyCharge, &emptyCharge)
+PARAM_ADD(PARAM_FLOAT, fullCharge, &fullCharge)
+PARAM_GROUP_STOP(ring)
+```
+
+This will make the variables for roll/pitch/yaw/thrust available for the
+logging framework. These are the variables used to fill in the data in
+the [Python cfclient FlightTab](https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client/).
+
+    /**
+     * [Documentation for the stabilizer group ...]
+     */
+    LOG_GROUP_START(stabilizer)
+
+    /**
+     * @brief [Documentation for variable below ...]
+     */
+    LOG_ADD_CORE(LOG_FLOAT, roll, &eulerRollActual)
+
+    /**
+     * @brief [Documentation for variable below ...]
+     */
+    LOG_ADD_CORE(LOG_FLOAT, pitch, &eulerPitchActual)
+
+    /**
+     * @brief [Documentation for variable below ...]
+     */
+    LOG_ADD_CORE(LOG_FLOAT, yaw, &eulerYawActual)
+
+     /**
+     * @brief [Documentation for variable below ...]
+     */
+    LOG_ADD_CORE(LOG_UINT16, thrust, &actuatorThrust)
+
+    LOG_GROUP_STOP(stabilizer)
+
+During the compilation a table of content (TOC) is created that holds
+all the available variables together with the type and access
+restrictions. There\'s one TOC for each framework, one for logging and
+one for parameters. When the client connects it will download the TOC to
+know which variables can be used. It\'s then easy to use the [Python
+API](https://github.com/bitcraze/crazyflie-lib-python) ([or another
+API](https://wiki.bitcraze.io/doc:crazyflie:api:community) for accessing them.
+
+All the variables have a name and belong to a group. So in the examples
+above there\'s two groups defined: *ring* and *stabilizer*. To refer to
+a variable use the naming convention *group.name*. If you would like to
+log the *roll* variable in the *stabilizer* group it\'s access by
+*stabilizer.roll*. And if you would like to set the *effect* variable in
+the ring group it\'s accessed using *ring.effect*.
+
+## Parameters
+
+Using the parameter framework it\'s possible to both read and write
+variables in run-time, but note the following:
+
+-   There\'s no thread protection on reading/writing. Since the
+    architecture is 32bit and the largest parameter you can have is
+    32bit it\'s safe to write one variable. But if you write a group of
+    variables that should be used together (like PID parameters) you
+    might end up in trouble.
+-   Only use the parameter framework to read variables that are set
+    during start-up. If variables change during runtime then use the
+    logging framework.
+-   The reading or writing of a parameter can be done at any time once
+    you are connected to the Crazyflie.
+
+## Logging
+
+The logging framework is used to log variables from the Crazyflie at a
+specific interval. Instead of triggering a reading of the variables at
+certain intervals, the framework is used to set up a logging
+configuration to that will push data from the Crazyflie to the host.
+After the host has connected to a Crazyflie and downloaded the TOC it
+will be possible to setup one of these configurations. Once the
+configuration is set up and started the Crazyflie will start pushing
+data to the host. A configuration can be stopped and re-started again.
+Since there\'s a finite amount of memory a configuration can be deleted
+to make room for new ones.
+
+Note the following for the logging framework:
+
+-   Once a Crazyflie is connected you can set up new logging
+    configurations. It\'s only possible to create/start/stop/remove
+    configurations that\'s already created.
+-   The interval for a logging configuration is specified in 10th of
+    milliseconds.
+
+Note that variables can be logged as different types from what they have
+been declared as in the firmware. I.e if a variable is declared as a
+uint32\_t you can log it as a uint8\_t (this is being done for the
+motors in the UI).
+
+### Logging using a function
+
+It is possible to use a function to acquire log values instead of
+reading from a memory location. The idea is to support more complex use cases
+where, for instance computations are required to produce the log value.
+
+The macro
+
+```LOG_ADD_BY_FUNCTION(TYPE, NAME, ADDRESS)```
+
+is used to add a log to a group. ```TYPE``` and ```NAME``` works the same way as for variable logging, but
+```ADDRESS``` should point at a logByFunction_t struct instead of a variable. The struct contains
+a function pointer to the function to call when acquiring data, as well as
+a void pointer with user data passed that is passed on in the function call.
+
+Example:
+
+        float myLogValueFunction(uint32_t timestamp, void* data) {
+            // Return the log value
+            return 47.11;
+        }
+
+        logByFunction_t myLogger = {.aquireFloat = myLogValueFunction, .data = 0};
+
+        LOG_GROUP_START(myGroup)
+        LOG_ADD_BY_FUNCTION(LOG_FLOAT, myLog, &myLogger)
+        LOG_GROUP_STOP(myGroup)
+
+Note: The logging function is only called if the log is part of an active log configuration. It
+will be called (approximately) at the interval that is setup in the log configuration.
+
+### Logging rates
+
+A common usecase is to log rates (events / s) and there are a set of macros to simplify this task.
+
+The rate logger uses a struct to store data, it is called ```statsCntRateCounter_t``` and
+is initialize using the ```STATS_CNT_RATE_INIT```macro. The struct contains a counter, time
+information and the latest calculated rate. The initialization macro takes a parameter
+that specifies the update interval (in ms) and defines how often the rate (delta count / delta time)
+is calculated. The update interval should match the expected event rate to give meaningful results.
+
+With the ```STATS_CNT_RATE_DEFINE``` macro, the struct can be defined and initialized in one line.
+
+To register an event, that is to increase the counter, use the ```STATS_CNT_RATE_EVENT```macro.
+
+Register the rate counter in a log group witht the ```STATS_CNT_RATE_LOG_ADD``` macro.
+
+Example:
+
+        static const uint32_t one_second = 1000;
+        static statsCntRateLogger_t myCounter;
+        static STATS_CNT_RATE_DEFINE(myOtherCounter, one_second);
+
+        void myInit() {
+            STATS_CNT_RATE_INIT(&myCounter, one_second);
+        }
+
+        void theFcnThatIWantTheCallRateFor() {
+            ...
+            STATS_CNT_RATE_EVENT(&myCounter);
+            ...
+            STATS_CNT_RATE_EVENT(&myOtherCounter);
+        }
+
+        LOG_GROUP_START(myGroup)
+            // The logging type is implicitly LOG_FLOAT
+            STATS_CNT_RATE_LOG_ADD(rtCall, &myCounter)
+            STATS_CNT_RATE_LOG_ADD(rtCall2, &myOtherCounter)
+        LOG_GROUP_STOP(myGroup)
+
+Note: The rate computation function is called from the logging framework with the interval
+specifed in the logging configuration. The rate, on the other hand, is calculated if the time since
+last computation exceeds the configured update time of the rate logger, and if the logging intervall
+is longer than the update intervall, updates will be done for each logging call.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..26c8d9890a2abfcfc0667cb06ce98541b6b377af
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += appchannel_test.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5288aaa43680b58326ca830eeb6d65fae4ffa6a2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/README.md
@@ -0,0 +1,10 @@
+# Appchannel test app for Crazyflie 2.x
+
+This application demonstrates how to use the appchannel API to send and receive
+radio packets between a Crazyflie app and the python lib.
+
+This demo defines a protocol where the Crazyflie waits for 3 floas (x, y, z) and sends back the sum as one float.
+
+To run this example, compile and flash the app with ```make && make cload```.
+
+When the Crazyflie is flashed and started, you can run the python example with ```python3 tools/appchannelTest.py```.
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/src/appchannel_test.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/src/appchannel_test.c
new file mode 100644
index 0000000000000000000000000000000000000000..f9c6209cb4eff64247e52fc1bafbaabaf1869159
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/src/appchannel_test.c
@@ -0,0 +1,64 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * appchanel_test.c: Demonstrate the appchanel functionality 
+ */
+
+#include "app.h"
+#include "app_channel.h"
+
+#include "debug.h"
+
+#define DEBUG_MODULE "HELLOWORLD"
+
+struct testPacketRX {
+  float x;
+  float y;
+  float z;
+} __attribute__((packed));
+
+struct testPacketTX {
+  float sum;
+} __attribute__((packed));
+
+void appMain()
+{
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  struct testPacketRX rxPacket;
+  struct testPacketTX txPacket;
+
+  while(1) {
+    if (appchannelReceivePacket(&rxPacket, sizeof(rxPacket), APPCHANNEL_WAIT_FOREVER)) {
+
+      DEBUG_PRINT("App channel received x: %f, y: %f, z: %f\n", (double)rxPacket.x, (double)rxPacket.y, (double)rxPacket.z);
+
+      txPacket.sum = rxPacket.x;
+      txPacket.sum += rxPacket.y;
+      txPacket.sum += rxPacket.z;
+
+      appchannelSendPacket(&txPacket, sizeof(txPacket));
+    }
+  }
+}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/tools/appchannelTest.py b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/tools/appchannelTest.py
new file mode 100644
index 0000000000000000000000000000000000000000..86f170e8ba7afbff7fb8c5eb47e2616996d2a3e7
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_appchannel_test/tools/appchannelTest.py
@@ -0,0 +1,117 @@
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2014 Bitcraze AB
+#
+#  Crazyflie Nano Quadcopter Client
+#
+#  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; either version 2
+#  of the License, or (at your option) any later version.
+#
+#  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.
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA  02110-1301, USA.
+"""
+Simple example that connects to the first Crazyflie found, Sends and
+receive appchannel packets
+
+The protocol is:
+ - 3 floats are send, x, y and z
+ - The Crazyflie sends back the sum as one float
+"""
+import logging
+import time
+from threading import Thread
+
+import struct
+
+import cflib
+from cflib.crazyflie import Crazyflie
+
+logging.basicConfig(level=logging.ERROR)
+
+
+class AppchannelTest:
+    """Example that connects to a Crazyflie and ramps the motors up/down and
+    the disconnects"""
+
+    def __init__(self, link_uri):
+        """ Initialize and run the example with the specified link_uri """
+
+        self._cf = Crazyflie()
+
+        self._cf.connected.add_callback(self._connected)
+        self._cf.disconnected.add_callback(self._disconnected)
+        self._cf.connection_failed.add_callback(self._connection_failed)
+        self._cf.connection_lost.add_callback(self._connection_lost)
+
+        self._cf.appchannel.packet_received.add_callback(self._app_packet_received)
+
+        self._cf.open_link(link_uri)
+
+        print('Connecting to %s' % link_uri)
+
+    def _connected(self, link_uri):
+        """ This callback is called form the Crazyflie API when a Crazyflie
+        has been connected and the TOCs have been downloaded."""
+
+        # Start a separate thread to do the motor test.
+        # Do not hijack the calling thread!
+        Thread(target=self._test_appchannel).start()
+
+    def _connection_failed(self, link_uri, msg):
+        """Callback when connection initial connection fails (i.e no Crazyflie
+        at the specified address)"""
+        print('Connection to %s failed: %s' % (link_uri, msg))
+
+    def _connection_lost(self, link_uri, msg):
+        """Callback when disconnected after a connection has been made (i.e
+        Crazyflie moves out of range)"""
+        print('Connection to %s lost: %s' % (link_uri, msg))
+
+    def _disconnected(self, link_uri):
+        """Callback when the Crazyflie is disconnected (called in all cases)"""
+        print('Disconnected from %s' % link_uri)
+
+    def _app_packet_received(self, data):
+        (sum, ) = struct.unpack("<f", data)
+        print(f"Received sum: {sum}")
+
+    def _test_appchannel(self):
+        for i in range(10):
+            (x, y, z) = (i, i+1, i+2)
+            data = struct.pack("<fff", x, y, z)
+            self._cf.appchannel.send_packet(data)
+            print(f"Sent x: {x}, y: {y}, z: {z}")
+
+            time.sleep(1)
+
+        self._cf.close_link()
+
+
+if __name__ == '__main__':
+    # Initialize the low-level drivers (don't list the debug drivers)
+    cflib.crtp.init_drivers(enable_debug_driver=False)
+    # Scan for Crazyflies and use the first one found
+    print('Scanning interfaces for Crazyflies...')
+    available = cflib.crtp.scan_interfaces()
+    print('Crazyflies found:')
+    for i in available:
+        print(i[0])
+
+    if len(available) > 0:
+        le = AppchannelTest(available[0][0])
+    else:
+        print('No Crazyflies found, cannot run example')
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b885fb3786efad9b4b5dedac70d88a7805e7ea50
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += hello_world.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9d8f1188730a754eb0c0bda3a13b01f113eaa1f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/README.md
@@ -0,0 +1,17 @@
+# Hello world App for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to print a hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). 
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Build
+
+Make sure that you are in the app_hello_world folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make 
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/src/hello_world.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/src/hello_world.c
new file mode 100644
index 0000000000000000000000000000000000000000..c2deca0a3d6881fc343821851bae65add729d652
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_hello_world/src/hello_world.c
@@ -0,0 +1,51 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * hello_world.c - App layer application of a simple hello world debug print every
+ *   2 seconds.  
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#define DEBUG_MODULE "HELLOWORLD"
+
+void appMain()
+{
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  while(1) {
+    vTaskDelay(M2T(2000));
+    DEBUG_PRINT("Hello World!\n");
+  }
+}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e0372a4584fae7389bbee38d32cc61dcf6563
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += internal_log_param_api.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..243508e056e35e6449424b96c984f23c6bcc9a2f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/README.md
@@ -0,0 +1,17 @@
+# Internal parameters and loggin api App example for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to use the internal logging and parameter API, which can be monitord in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). 
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Build
+
+Make sure that you are in the app_hello_world folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make 
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/src/internal_log_param_api.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/src/internal_log_param_api.c
new file mode 100644
index 0000000000000000000000000000000000000000..3f2fef7345246d5c5b5dd99713e46bf00867ed17
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_internal_param_log/src/internal_log_param_api.c
@@ -0,0 +1,72 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * internal_log_param_api.c - App layer application of the internal log
+ *  and param api  
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+
+#define DEBUG_MODULE "INTERNLOGPARAM"
+
+void appMain()
+{
+  DEBUG_PRINT("This is the App layer example of the internal log param api...\n");
+  logVarId_t idYaw = logGetVarId("stateEstimate", "yaw");
+  float yaw = 0.0f;
+
+  paramVarId_t idEstimator = paramGetVarId("stabilizer", "estimator");
+  uint8_t estimator_type = 0;
+
+  while(1) {
+    vTaskDelay(M2T(2000));
+
+    // Get the logging data
+    yaw = logGetFloat(idYaw);
+    DEBUG_PRINT("Yaw is now: %f deg\n", (double)yaw);
+
+    // Get parameter value
+    estimator_type = paramGetInt(idEstimator);
+    DEBUG_PRINT("Estimator type is now: %d deg\n", estimator_type);
+
+    // Set a parameter value 
+    //  Note, this will influence the flight quality if you change estimator
+    uint8_t new_value = 2;
+    paramSetInt(idEstimator, new_value);
+    
+  }
+}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9db884ec24a53b54a55af87cd0e358a92ba6090b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += peer_to_peer.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..623b5a3e2654ab2a2a7163e0be7183acb6b0d45c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/README.md
@@ -0,0 +1,23 @@
+# Peer to Peer App for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to send and receive peer to peer messages. The debug messages of the received messages can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). Two Crazyflies need to be flashed with this program in order to work. Make sure that they are both on the same channel, and that they have different IDs.
+
+This example is going to blink the M4 LED when packets are sent and received, if you run 2 Crazyflies with this example you should see M4 blinking red and green in sequence indicating bidirectional P2P communication.
+
+You can find on Bitcraze's website the [API documentation for P2P](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/p2p_api/) as well as the [App layer API guide](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Limitations
+
+Since P2P communication happens asynchronously on the radio, this example does not work well when connecting a PC to the Crazyflies via the Radio. You should connect the Crazyflies using the USB port. This is a fundamental limitation of the current P2P implementation.
+
+## Build
+
+Make sure that you are in the app_peer_to_peer folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make 
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/src/peer_to_peer.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/src/peer_to_peer.c
new file mode 100644
index 0000000000000000000000000000000000000000..3c85a97e8ef261333f89b961600b49eed32e0e8a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/app_peer_to_peer/src/peer_to_peer.c
@@ -0,0 +1,97 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * peer_to_peer.c - App layer application of simple demonstartion peer to peer
+ *  communication. Two crazyflies need this program in order to send and receive.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "radiolink.h"
+#include "configblock.h"
+
+#define DEBUG_MODULE "P2P"
+#include "debug.h"
+
+#define MESSAGE "hello world"
+#define MESSAGE_LENGHT 11
+
+
+void p2pcallbackHandler(P2PPacket *p)
+{
+  // Parse the data from the other crazyflie and print it
+  uint8_t other_id = p->data[0];
+  static char msg[MESSAGE_LENGHT + 1];
+  memcpy(&msg, &p->data[1], sizeof(char)*MESSAGE_LENGHT);
+  msg[MESSAGE_LENGHT] = 0;
+  uint8_t rssi = p->rssi;
+
+  DEBUG_PRINT("[RSSI: -%d dBm] Message from CF nr. %d, %s\n", rssi, other_id, msg);
+}
+
+void appMain()
+{
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+    // Initialize the p2p packet 
+    static P2PPacket p_reply;
+    p_reply.port=0x00;
+    
+    // Get the current address of the crazyflie and obtain
+    //   the last two digits and send it as the first byte
+    //   of the payload
+    uint64_t address = configblockGetRadioAddress();
+    uint8_t my_id =(uint8_t)((address) & 0x00000000ff);
+    p_reply.data[0]=my_id;
+
+    //Put a string in the payload
+    char *str="Hello World";
+    memcpy(&p_reply.data[1], str, sizeof(char)*MESSAGE_LENGHT);
+
+    // Set the size, which is the amount of bytes the payload with ID and the string 
+    p_reply.size=sizeof(char)*MESSAGE_LENGHT+1;
+
+    // Register the callback function so that the CF can receive packets as well.
+    p2pRegisterCB(p2pcallbackHandler);
+
+  while(1) {
+    // Send a message every 2 seconds
+    //   Note: if they are sending at the exact same time, there will be message collisions, 
+    //    however since they are sending every 2 seconds, and they are not started up at the same
+    //    time and their internal clocks are different, there is not really something to worry about
+
+    vTaskDelay(M2T(2000));
+    radiolinkSendP2PPacketBroadcast(&p_reply);
+  }
+}
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..91edf5c329fcd44f2d00c384ec1b61310e4131f1
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/Makefile
@@ -0,0 +1,9 @@
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += push.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/readme.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..bc1d2a2f975747b6ab994327fea83d2c46b04e11
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/readme.md
@@ -0,0 +1,32 @@
+# Push demo for Crazyflie 2.x
+
+This repos contains the push demo for Cazyflie 2.x.
+It uses out-of-tree build functionality of the Crazyflie firmware and is implemented using the app entry-point.
+
+This demo works with a Crazyflie 2.x with Flow deck version 2.0 and Multiranger deck attached. If you want to use the Flow deck 1.0 or any other positioning deck, you will need to change the following line to look at the parameter for the wanted deck:
+```
+  uint16_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+
+```
+
+When running, the crazyflie will wait for an object to get close to the top ranging sensor.
+When an oject (ie. an hand) has passed close to the top sensor, the Crazyflie takes off and hover.
+If anything is detected on side sensors, the Crazyflie moves in the oposite direction.
+So, it is possible to push the Crazyflie around.
+
+## Build
+
+You must have the required tools to build the [Crazyflie firmware](https://github.com/bitcraze/crazyflie-firmware).
+
+Clone the repos with ```--recursive```. If you did not do so, pull submodules with:
+```
+git submodule update --init --recursive
+```
+
+Then build and bootload:
+```
+make -j$(nproc)
+make cload
+```
+
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/src/push.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/src/push.c
new file mode 100644
index 0000000000000000000000000000000000000000..afa4c4c835ff17fa23ccd84cdc98d53c4c5887fa
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_push_demo/src/push.c
@@ -0,0 +1,176 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * push.c - App layer application of the onboard push demo. The crazyflie 
+ * has to have the multiranger and the flowdeck version 2.
+ */
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "commander.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+
+#define DEBUG_MODULE "PUSH"
+
+static void setHoverSetpoint(setpoint_t *setpoint, float vx, float vy, float z, float yawrate)
+{
+  setpoint->mode.z = modeAbs;
+  setpoint->position.z = z;
+
+
+  setpoint->mode.yaw = modeVelocity;
+  setpoint->attitudeRate.yaw = yawrate;
+
+
+  setpoint->mode.x = modeVelocity;
+  setpoint->mode.y = modeVelocity;
+  setpoint->velocity.x = vx;
+  setpoint->velocity.y = vy;
+
+  setpoint->velocity_body = true;
+}
+
+typedef enum {
+    idle,
+    lowUnlock,
+    unlocked,
+    stopping
+} State;
+
+static State state = idle;
+
+static const uint16_t unlockThLow = 100;
+static const uint16_t unlockThHigh = 300;
+static const uint16_t stoppedTh = 500;
+
+static const float velMax = 1.0f;
+static const uint16_t radius = 300;
+
+static const float height_sp = 0.2f;
+
+#define MAX(a,b) ((a>b)?a:b)
+#define MIN(a,b) ((a<b)?a:b)
+
+void appMain()
+{
+  static setpoint_t setpoint;
+
+  vTaskDelay(M2T(3000));
+
+  logVarId_t idUp = logGetVarId("range", "up");
+  logVarId_t idLeft = logGetVarId("range", "left");
+  logVarId_t idRight = logGetVarId("range", "right");
+  logVarId_t idFront = logGetVarId("range", "front");
+  logVarId_t idBack = logGetVarId("range", "back");
+  
+  paramVarId_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+  paramVarId_t idMultiranger = paramGetVarId("deck", "bcMultiranger");
+
+
+  float factor = velMax/radius;
+
+  //DEBUG_PRINT("%i", idUp);
+
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  while(1) {
+    vTaskDelay(M2T(10));
+    //DEBUG_PRINT(".");
+
+    uint8_t positioningInit = paramGetUint(idPositioningDeck);
+    uint8_t multirangerInit = paramGetUint(idMultiranger);
+
+    uint16_t up = logGetUint(idUp);
+
+    if (state == unlocked) {
+      uint16_t left = logGetUint(idLeft);
+      uint16_t right = logGetUint(idRight);
+      uint16_t front = logGetUint(idFront);
+      uint16_t back = logGetUint(idBack);
+
+      uint16_t left_o = radius - MIN(left, radius);
+      uint16_t right_o = radius - MIN(right, radius);
+      float l_comp = (-1) * left_o * factor;
+      float r_comp = right_o * factor;
+      float velSide = r_comp + l_comp;
+
+      uint16_t front_o = radius - MIN(front, radius);
+      uint16_t back_o = radius - MIN(back, radius);
+      float f_comp = (-1) * front_o * factor;
+      float b_comp = back_o * factor;
+      float velFront = b_comp + f_comp;
+
+      uint16_t up_o = radius - MIN(up, radius);
+      float height = height_sp - up_o/1000.0f;
+
+      /*DEBUG_PRINT("l=%i, r=%i, lo=%f, ro=%f, vel=%f\n", left_o, right_o, l_comp, r_comp, velSide);
+      DEBUG_PRINT("f=%i, b=%i, fo=%f, bo=%f, vel=%f\n", front_o, back_o, f_comp, b_comp, velFront);
+      DEBUG_PRINT("u=%i, d=%i, height=%f\n", up_o, height);*/
+
+      if (1) {
+        setHoverSetpoint(&setpoint, velFront, velSide, height, 0);
+        commanderSetSetpoint(&setpoint, 3);
+      }
+
+      if (height < 0.1f) {
+        state = stopping;
+        DEBUG_PRINT("X\n");
+      }
+
+    } else {
+
+      if (state == stopping && up > stoppedTh) {
+        DEBUG_PRINT("%i", up);
+        state = idle;
+        DEBUG_PRINT("S\n");
+      }
+
+      if (up < unlockThLow && state == idle && up > 0.001f) {
+        DEBUG_PRINT("Waiting for hand to be removed!\n");
+        state = lowUnlock;
+      }
+
+      if (up > unlockThHigh && state == lowUnlock && positioningInit && multirangerInit) {
+        DEBUG_PRINT("Unlocked!\n");
+        state = unlocked;
+      }
+
+      if (state == idle || state == stopping) {
+        memset(&setpoint, 0, sizeof(setpoint_t));
+        commanderSetSetpoint(&setpoint, 3);
+      }
+    }
+  }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0758d56cb9657cfcd3ca42d0a32e8c9df0cf60d2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/Makefile
@@ -0,0 +1,10 @@
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += wall_following.o
+PROJ_OBJ += wallfollowing_multiranger_onboard.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wall_following.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wall_following.c
new file mode 100644
index 0000000000000000000000000000000000000000..a05681d17c4a84825106701b9d3873f3a58634b8
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wall_following.c
@@ -0,0 +1,257 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2021 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * wall_follower.c - App layer application of the wall following demo. The crazyflie 
+ * has to have the multiranger and the flowdeck version 2.
+ *
+ * The same wallfollowing strategy was used in the following paper:
+
+ @article{mcguire2019minimal,
+  title={Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment},
+  author={McGuire, KN and De Wagter, Christophe and Tuyls, Karl and Kappen, HJ and de Croon, Guido CHE},
+  journal={Science Robotics},
+  volume={4},
+  number={35},
+  year={2019},
+  publisher={Science Robotics}
+}
+
+ */
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "commander.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+#include <math.h>
+#include "usec_time.h"
+
+#include "wallfollowing_multiranger_onboard.h"
+
+#define DEBUG_MODULE "WALLFOLLOWING"
+
+static void setVelocitySetpoint(setpoint_t *setpoint, float vx, float vy, float z, float yawrate)
+{
+  setpoint->mode.z = modeAbs;
+  setpoint->position.z = z;
+  setpoint->mode.yaw = modeVelocity;
+  setpoint->attitudeRate.yaw = yawrate;
+  setpoint->mode.x = modeVelocity;
+  setpoint->mode.y = modeVelocity;
+  setpoint->velocity.x = vx;
+  setpoint->velocity.y = vy;
+
+  setpoint->velocity_body = true;
+}
+
+// States
+typedef enum
+{
+  idle,
+  lowUnlock,
+  unlocked,
+  stopping
+} StateOuterLoop;
+
+StateOuterLoop stateOuterLoop = idle;
+StateWF stateInnerLoop = forward;
+
+// Thresholds for the unlocking procedure of the top sensor of the multiranger
+static const uint16_t unlockThLow = 100;
+static const uint16_t unlockThHigh = 300;
+static const uint16_t stoppedTh = 500;
+
+// Handling the height setpoint
+static const float spHeight = 0.5f;
+static const uint16_t radius = 300;
+
+// Some wallfollowing parameters and logging
+bool goLeft = false;
+float distanceToWall = 0.5f;
+float maxForwardSpeed = 0.5f;
+
+float cmdVelX = 0.0f;
+float cmdVelY = 0.0f;
+float cmdAngWRad = 0.0f;
+float cmdAngWDeg = 0.0f;
+
+#define MAX(a, b) ((a > b) ? a : b)
+#define MIN(a, b) ((a < b) ? a : b)
+
+void appMain()
+{
+  vTaskDelay(M2T(3000));
+  // Getting Logging IDs of the multiranger
+  logVarId_t idUp = logGetVarId("range", "up");
+  logVarId_t idLeft = logGetVarId("range", "left");
+  logVarId_t idRight = logGetVarId("range", "right");
+  logVarId_t idFront = logGetVarId("range", "front");
+
+  // Getting the Logging IDs of the state estimates
+  logVarId_t idStabilizerYaw = logGetVarId("stabilizer", "yaw");
+  logVarId_t idHeightEstimate = logGetVarId("stateEstimate", "z");
+
+  // Getting Param IDs of the deck driver initialization
+  paramVarId_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+  paramVarId_t idMultiranger = paramGetVarId("deck", "bcMultiranger");
+
+  // Initialize the wall follower state machine
+  wallFollowerInit(distanceToWall, maxForwardSpeed, stateInnerLoop);
+
+  // Intialize the setpoint structure
+  setpoint_t setpoint;
+
+  DEBUG_PRINT("Waiting for activation ...\n");
+
+  while (1)
+  {
+    vTaskDelay(M2T(10));
+
+    // Check if decks are properly mounted
+    uint8_t positioningInit = paramGetUint(idPositioningDeck);
+    uint8_t multirangerInit = paramGetUint(idMultiranger);
+
+    // Get the upper range sensor value (used for startup and stopping)
+    uint16_t up = logGetUint(idUp);
+
+    // Get Height estimate
+    float heightEstimate = logGetFloat(idHeightEstimate);
+
+    // If the crazyflie is unlocked by the hand, continue with state machine
+    if (stateOuterLoop == unlocked)
+    {
+
+      // Get all multiranger values
+      float frontRange = (float)logGetUint(idFront) / 1000.0f;
+      float sideRange;
+      if (goLeft)
+      {
+        sideRange = (float)logGetUint(idRight) / 1000.0f;
+      }
+      else
+      {
+        sideRange = (float)logGetUint(idLeft) / 1000.0f;
+      }
+
+      // Get the heading and convert it to rad
+      float estYawDeg = logGetFloat(idStabilizerYaw);
+      float estYawRad = estYawDeg * (float)M_PI / 180.0f;
+
+      //Adjust height based on up ranger input
+      uint16_t up_o = radius - MIN(up, radius);
+      float cmdHeight = spHeight - up_o / 1000.0f;
+
+      cmdVelX = 0.0f;
+      cmdVelY = 0.0f;
+      cmdAngWRad = 0.0f;
+      cmdAngWDeg = 0.0f;
+
+      // Only go to the state machine if the crazyflie has reached a certain height
+      if (heightEstimate > spHeight - 0.1f)
+      {
+        // Set the wall following direction
+        int direction;
+        if (goLeft)
+        {
+          direction = 1;
+        }
+        else
+        {
+          direction = -1;
+        }
+
+        // The wall-following state machine which outputs velocity commands
+        float timeNow = usecTimestamp() / 1e6;
+        stateInnerLoop = wallFollower(&cmdVelX, &cmdVelY, &cmdAngWRad, frontRange, sideRange, estYawRad, direction, timeNow);
+        cmdAngWDeg = cmdAngWRad * 180.0f / (float)M_PI;
+      }
+      // Turn velocity commands into setpoints and send it to the commander
+      setVelocitySetpoint(&setpoint, cmdVelX, cmdVelY, cmdHeight, cmdAngWDeg);
+      commanderSetSetpoint(&setpoint, 3);
+
+      // Handling stopping with hand above the crazyflie
+      if (cmdHeight < spHeight - 0.2f)
+      {
+        stateOuterLoop = stopping;
+        DEBUG_PRINT("X\n");
+      }
+    }
+    else
+    {
+
+      // Handeling locking and unlocking
+      if (stateOuterLoop == stopping && up > stoppedTh)
+      {
+        DEBUG_PRINT("%i", up);
+        stateOuterLoop = idle;
+        DEBUG_PRINT("S\n");
+      }
+
+      // If the up multiranger is activated for the first time, prepare to be unlocked
+      if (up < unlockThLow && stateOuterLoop == idle && up > 0.001f)
+      {
+        DEBUG_PRINT("Waiting for hand to be removed!\n");
+        stateOuterLoop = lowUnlock;
+      }
+
+      // Unlock CF if hand above is removed, and if the positioningdeckand multiranger deck is initalized.
+      if (up > unlockThHigh && stateOuterLoop == lowUnlock && positioningInit && multirangerInit)
+      {
+        DEBUG_PRINT("Unlocked!\n");
+        stateOuterLoop = unlocked;
+      }
+
+      // Stop the crazyflie with idle or stopping state
+      if (stateOuterLoop == idle || stateOuterLoop == stopping)
+      {
+        memset(&setpoint, 0, sizeof(setpoint_t));
+        commanderSetSetpoint(&setpoint, 3);
+      }
+    }
+  }
+}
+
+PARAM_GROUP_START(app)
+PARAM_ADD(PARAM_UINT8, goLeft, &goLeft)
+PARAM_ADD(PARAM_FLOAT, distanceWall, &distanceToWall)
+PARAM_ADD(PARAM_FLOAT, maxSpeed, &maxForwardSpeed)
+PARAM_GROUP_STOP(app)
+
+LOG_GROUP_START(app)
+LOG_ADD(LOG_FLOAT, cmdVelX, &cmdVelX)
+LOG_ADD(LOG_FLOAT, cmdVelY, &cmdVelY)
+LOG_ADD(LOG_FLOAT, cmdAngWRad, &cmdAngWRad)
+LOG_ADD(LOG_UINT8, stateInnerLoop, &stateInnerLoop)
+LOG_ADD(LOG_UINT8, stateOuterLoop, &stateOuterLoop)
+LOG_GROUP_STOP(app)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c
new file mode 100644
index 0000000000000000000000000000000000000000..c28ed1e8e40fc51a0985859d6a72aaac84ea0e49
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c
@@ -0,0 +1,368 @@
+/*
+ * wall_follower_multi_ranger_onboard.c
+ *
+ *  Created on: Aug 7, 2018
+ *      Author: knmcguire
+
+The same wallfollowing strategy was used in the following paper:
+
+ @article{mcguire2019minimal,
+  title={Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment},
+  author={McGuire, KN and De Wagter, Christophe and Tuyls, Karl and Kappen, HJ and de Croon, Guido CHE},
+  journal={Science Robotics},
+  volume={4},
+  number={35},
+  year={2019},
+  publisher={Science Robotics}
+
+ */
+
+#include "wallfollowing_multiranger_onboard.h"
+#include <math.h>
+
+// variables
+static float refDistanceFromWall = 0.0f;
+static float maxForwardSpeed = 0.2f;
+static float maxTurnRate = 0.5f;
+static float direction = 1.0f;
+static float firstRun = false;
+static float prevHeading = 0.0f;
+static float wallAngle = 0.0f;
+static bool aroundCornerBackTrack = false;
+static float stateStartTime;
+static float rangerValueBuffer = 0.2f;
+static float angleValueBuffer = 0.1f;
+static float rangerThresholdLost = 0.3f;
+static const float inCornerAngle = 0.8f;
+static const float waitForMeasurementSeconds = 1.0f;
+
+static StateWF stateWF = forward;
+float timeNow = 0.0f;
+
+void wallFollowerInit(float refDistanceFromWallNew, float maxForwardSpeed_ref, StateWF initState)
+{
+  refDistanceFromWall = refDistanceFromWallNew;
+  maxForwardSpeed = maxForwardSpeed_ref;
+  firstRun = true;
+  stateWF = initState;
+}
+
+// Static helper functions
+static bool logicIsCloseTo(float real_value, float checked_value, float margin)
+{
+  if (real_value > checked_value - margin && real_value < checked_value + margin)
+  {
+    return true;
+  }
+  else
+  {
+    return false;
+  }
+}
+
+static float wraptopi(float number)
+{
+  if (number > (float)M_PI)
+  {
+    return (number - (float)(2 * M_PI));
+  }
+  else if (number < (float)(-1 * M_PI))
+  {
+    return (number + (float)(2 * M_PI));
+  }
+  else
+  {
+    return (number);
+  }
+}
+
+// Static command functions
+static void commandTurn(float *cmdVelX, float *cmdAngW, float ref_rate)
+{
+  *cmdVelX = 0.0f;
+  *cmdAngW = direction * ref_rate;
+}
+
+static void commandAlignCorner(float *cmdVelY, float *cmdAngW, float ref_rate, float range,
+                               float wanted_distance_from_corner)
+{
+
+  if (range > wanted_distance_from_corner + 0.3f)
+  {
+    *cmdAngW = direction * ref_rate;
+    *cmdVelY = 0;
+  }
+  else
+  {
+    if (range > wanted_distance_from_corner)
+    {
+      *cmdVelY = direction * (-1.0f * maxForwardSpeed / 3.0f);
+    }
+    else
+    {
+      *cmdVelY = direction * (maxForwardSpeed / 3.0f);
+    }
+    *cmdAngW = 0;
+  }
+}
+
+static void commandHover(float *cmdVelX, float *cmdVelY, float *cmdAngW)
+{
+  *cmdVelX = 0.0f;
+  *cmdVelY = 0.0f;
+  *cmdAngW = 0.0f;
+}
+
+static void commandForwardAlongWall(float *cmdVelX, float *cmdVelY, float range)
+{
+  *cmdVelX = maxForwardSpeed;
+  bool check_distance_wall = logicIsCloseTo(refDistanceFromWall, range, 0.1f);
+  *cmdVelY = 0;
+  if (!check_distance_wall)
+  {
+    if (range > refDistanceFromWall)
+    {
+      *cmdVelY = direction * (-1.0f * maxForwardSpeed / 2.0f);
+    }
+    else
+    {
+      *cmdVelY = direction * (maxForwardSpeed / 2.0f);
+    }
+  }
+}
+
+static void commandTurnAroundCornerAndAdjust(float *cmdVelX, float *cmdVelY, float *cmdAngW, float radius, float range)
+{
+  *cmdVelX = maxForwardSpeed;
+  *cmdAngW = direction * (-1 * (*cmdVelX) / radius);
+  bool check_distance_to_wall = logicIsCloseTo(refDistanceFromWall, range, 0.1f);
+  if (!check_distance_to_wall)
+  {
+    if (range > refDistanceFromWall)
+    {
+      *cmdVelY = direction * (-1.0f * maxForwardSpeed / 3.0f);
+    }
+    else
+    {
+      *cmdVelY = direction * (maxForwardSpeed / 3.0f);
+    }
+  }
+}
+
+static void commandTurnAndAdjust(float *cmdVelY, float *cmdAngW, float rate, float range)
+{
+  *cmdAngW = direction * rate;
+  *cmdVelY = 0.0f;
+}
+
+static StateWF transition(StateWF newState)
+{
+  stateStartTime = timeNow;
+  return newState;
+}
+
+void adjustDistanceWall(float distanceWallNew)
+{
+  refDistanceFromWall = distanceWallNew;
+}
+
+StateWF wallFollower(float *cmdVelX, float *cmdVelY, float *cmdAngW, float frontRange, float sideRange, float currentHeading,
+                     int directionTurn, float timeOuter)
+{
+
+  direction = directionTurn;
+
+  timeNow = timeOuter;
+
+  if (firstRun)
+  {
+    prevHeading = currentHeading;
+    aroundCornerBackTrack = false;
+    firstRun = false;
+  }
+
+  /***********************************************************
+  * Handle state transitions
+  ***********************************************************/
+  switch (stateWF)
+  {
+
+  case forward:
+    if (frontRange < refDistanceFromWall + rangerValueBuffer)
+    {
+      stateWF = transition(turnToFindWall);
+    }
+    break;
+
+  case hover:
+    break;
+
+  case turnToFindWall:;
+    // check if wall is found
+    bool sideRangeCheck = sideRange < (refDistanceFromWall / (float)cos(0.78f) + rangerValueBuffer);
+    bool frontRangeCheck = frontRange < (refDistanceFromWall / (float)cos(0.78f) + rangerValueBuffer);
+
+    if (sideRangeCheck && frontRangeCheck)
+    {
+      prevHeading = currentHeading;
+      wallAngle = direction * (1.57f - (float)atan(frontRange / sideRange) + angleValueBuffer);
+      stateWF = transition(turnToAlignToWall);
+    }
+    // If went too far in heading
+    if (sideRange < refDistanceFromWall + rangerValueBuffer && frontRange > refDistanceFromWall + rangerThresholdLost)
+    {
+      aroundCornerBackTrack = false;
+      prevHeading = currentHeading;
+      stateWF = transition(findCorner);
+    }
+    break;
+
+  case turnToAlignToWall:;
+    bool alignWallCheck = logicIsCloseTo(wraptopi(currentHeading - prevHeading), wallAngle, angleValueBuffer);
+    if (alignWallCheck)
+    {
+      stateWF = transition(forwardAlongWall);
+    }
+    break;
+
+  case forwardAlongWall:
+    // If side range is out of reach,
+    //    end of the wall is reached
+    if (sideRange > refDistanceFromWall + rangerThresholdLost)
+    {
+      stateWF = transition(findCorner);
+    }
+    // If front range is small
+    //    then corner is reached
+    if (frontRange < refDistanceFromWall + rangerValueBuffer)
+    {
+      prevHeading = currentHeading;
+      stateWF = transition(rotateInCorner);
+    }
+    break;
+
+  case rotateAroundWall:
+    if (frontRange < refDistanceFromWall + rangerValueBuffer)
+    {
+      stateWF = transition(turnToFindWall);
+    }
+    break;
+
+  case rotateInCorner:;
+    // Check if heading goes over 0.8 rad
+    bool checkHeadingCorner = logicIsCloseTo(fabs(wraptopi(currentHeading - prevHeading)), inCornerAngle, angleValueBuffer);
+    if (checkHeadingCorner)
+    {
+      stateWF = transition(turnToFindWall);
+    }
+    break;
+
+  case findCorner:
+    if (sideRange <= refDistanceFromWall)
+    {
+      stateWF = transition(rotateAroundWall);
+    }
+    break;
+
+  default:
+    stateWF = transition(hover);
+  }
+
+  /***********************************************************
+   * Handle state actions
+   ***********************************************************/
+
+  float cmdVelXTemp = 0.0f;
+  float cmdVelYTemp = 0.0f;
+  float cmdAngWTemp = 0.0f;
+
+  switch (stateWF)
+  {
+  case forward:
+    cmdVelXTemp = maxForwardSpeed;
+    cmdVelYTemp = 0.0f;
+    cmdAngWTemp = 0.0f;
+    break;
+
+  case hover:
+    commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+    break;
+
+  case turnToFindWall:
+    commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+    cmdVelYTemp = 0.0f;
+    break;
+
+  case turnToAlignToWall:
+    if (timeNow - stateStartTime < waitForMeasurementSeconds)
+    {
+      commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+    }
+    else
+    { // then turn again
+      commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+      cmdVelYTemp = 0.0f;
+    }
+    break;
+
+  case forwardAlongWall:
+    commandForwardAlongWall(&cmdVelXTemp, &cmdVelYTemp, sideRange);
+    cmdAngWTemp = 0.0f;
+    break;
+
+  case rotateAroundWall:
+    // If first time around corner
+    //first try to find the corner again
+
+    // if side range is larger than prefered distance from wall
+    if (sideRange > refDistanceFromWall + rangerThresholdLost)
+    {
+
+      // check if scanning has already occured
+      if (wraptopi(fabs(currentHeading - prevHeading)) > inCornerAngle)
+      {
+        aroundCornerBackTrack = true;
+      }
+      // turn and adjust distnace to corner from that point
+      if (aroundCornerBackTrack)
+      {
+        // go back if it already went into one direction
+        commandTurnAndAdjust(&cmdVelYTemp, &cmdAngWTemp, -1 * maxTurnRate, sideRange);
+        cmdVelXTemp = 0.0f;
+      }
+      else
+      {
+        commandTurnAndAdjust(&cmdVelYTemp, &cmdAngWTemp, maxTurnRate, sideRange);
+        cmdVelXTemp = 0.0f;
+      }
+    }
+    else
+    {
+      // continue to turn around corner
+      prevHeading = currentHeading;
+      aroundCornerBackTrack = false;
+      commandTurnAroundCornerAndAdjust(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp, refDistanceFromWall, sideRange);
+    }
+    break;
+
+  case rotateInCorner:
+    commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+    cmdVelYTemp = 0.0f;
+    break;
+
+  case findCorner:
+    commandAlignCorner(&cmdVelYTemp, &cmdAngWTemp, -1 * maxTurnRate, sideRange, refDistanceFromWall);
+    cmdVelXTemp = 0.0f;
+    break;
+
+  default:
+    //State does not exist so hover!!
+    commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+  }
+
+  *cmdVelX = cmdVelXTemp;
+  *cmdVelY = cmdVelYTemp;
+  *cmdAngW = cmdAngWTemp;
+
+  return stateWF;
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h
new file mode 100644
index 0000000000000000000000000000000000000000..1b42a7c3502bd793f82fd4652e4bf86ba0d2d829
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h
@@ -0,0 +1,31 @@
+/*
+ * wallfollowing_multirange_onboard.h
+ *
+ *  Created on: Aug 7, 2018
+ *      Author: knmcguire
+ */
+
+#ifndef SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_
+#define SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef enum
+{
+    forward,
+    hover,
+    turnToFindWall,
+    turnToAlignToWall,
+    forwardAlongWall,
+    rotateAroundWall,
+    rotateInCorner,
+    findCorner
+} StateWF;
+
+StateWF wallFollower(float *cmdVelX, float *cmdVelY, float *cmdAngW, float frontRange, float sideRange, float currentHeading,
+                     int directionTurn, float timeOuter);
+
+void adjustDistanceWall(float distanceWallNew);
+
+void wallFollowerInit(float refDistanceFromWallNew, float maxForwardSpeed_ref, StateWF initState);
+#endif /* SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_ */
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/.gitignore b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..34770999973d6ce68ad4c98a6b92571e0ba17dee
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/Makefile
@@ -0,0 +1,20 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+## Weight of the Crazyflie + Qi + Lighthouse deck
+CFLAGS += -DCF_MASS=0.036f
+
+## Force lighthouse 2
+CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2
+
+# CLOAD_CMDS = -w radio://0/30/2M
+# DEBUG=1
+
+
+VPATH += src/
+PROJ_OBJ += app.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/README.md b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2fe220034ef96c632e260942955ab594e8136e3c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/README.md
@@ -0,0 +1,17 @@
+# Demo application
+
+This folder contains an app layer application for the Crazyflie that is used as a demo.
+
+## Build
+
+Make sure that you are in the demo folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+## Running the demo
+
+The demo is started by running the control_tower.py script
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/app.c b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/app.c
new file mode 100644
index 0000000000000000000000000000000000000000..1994c13a07965f3ab653d619eaa1d5feb38a0f6e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/app.c
@@ -0,0 +1,507 @@
+#include <float.h>
+#include <math.h>
+
+#include "FreeRTOS.h"
+#include "timers.h"
+#include "deck_digital.h"
+#include "deck_constants.h"
+#include "sensors.h"
+#include "estimator_kalman.h"
+#include "crtp_commander_high_level.h"
+#include "commander.h"
+#include "pm.h"
+#include "stabilizer.h"
+#include "ledseq.h"
+#include "log.h"
+#include "param.h"
+#include "sitaw.h"
+#include "controller.h"
+#include "ledseq.h"
+#include "pptraj.h"
+#include "lighthouse_position_est.h"
+#include "lighthouse_core.h"
+
+#define DEBUG_MODULE "APP"
+#include "debug.h"
+
+
+static xTimerHandle timer;
+static bool isInit = false;
+
+static void appTimer(xTimerHandle timer);
+
+#define LED_LOCK         LED_GREEN_R
+#define LOCK_LENGTH 50
+#define LOCK_THRESHOLD 0.001f
+#define MAX_PAD_ERR 0.005
+#define TAKE_OFF_HEIGHT 0.2f
+#define LANDING_HEIGHT 0.12f
+#define SEQUENCE_SPEED 1.0f
+#define DURATION_TO_INITIAL_POSITION 2.0
+
+static uint32_t lockWriteIndex;
+static float lockData[LOCK_LENGTH][3];
+static void resetLockData();
+static bool hasLock();
+
+static bool takeOffWhenReady = false;
+static float goToInitialPositionWhenReady = -1.0f;
+static bool terminateTrajectoryAndLand = false;
+
+static float padX = 0.0;
+static float padY = 0.0;
+static float padZ = 0.0;
+
+static uint32_t landingTimeCheckCharge = 0;
+
+static float stabilizeEndTime;
+
+#define NO_PROGRESS -2000.0f
+static float currentProgressInTrajectory = NO_PROGRESS;
+static uint32_t trajectoryStartTime = 0;
+static uint32_t timeWhenToGoToInitialPosition = 0;
+static float trajectoryDurationMs = 0.0f;
+
+static float trajecory_center_offset_x = 0.0f;
+static float trajecory_center_offset_y = 0.0f;
+static float trajecory_center_offset_z = 0.0f;
+
+static uint32_t now = 0;
+static uint32_t flightTime = 0;
+
+// The nr of trajectories to fly
+static uint8_t trajectoryCount = 255;
+static uint8_t remainingTrajectories = 0;
+
+// Log and param ids
+static logVarId_t logIdStateEstimateX;
+static logVarId_t logIdStateEstimateY;
+static logVarId_t logIdStateEstimateZ;
+static logVarId_t logIdKalmanVarPX;
+static logVarId_t logIdKalmanVarPY;
+static logVarId_t logIdKalmanVarPZ;
+static logVarId_t logIdPmState;
+static logVarId_t logIdlighthouseEstBs0Rt;
+static logVarId_t logIdlighthouseEstBs1Rt;
+
+static paramVarId_t paramIdStabilizerController;
+static paramVarId_t paramIdCommanderEnHighLevel;
+static paramVarId_t paramIdLighthouseMethod;
+
+//#define USE_MELLINGER
+
+#define TRAJ_Y_OFFSET 0.35
+
+enum State {
+  // Initialization
+  STATE_IDLE = 0,
+  STATE_WAIT_FOR_POSITION_LOCK,
+
+  STATE_WAIT_FOR_TAKE_OFF, // Charging
+  STATE_TAKING_OFF,
+  STATE_HOVERING,
+  STATE_WAITING_TO_GO_TO_INITIAL_POSITION,
+  STATE_GOING_TO_INITIAL_POSITION,
+  STATE_RUNNING_TRAJECTORY,
+  STATE_GOING_TO_PAD,
+  STATE_WAITING_AT_PAD,
+  STATE_LANDING,
+  STATE_CHECK_CHARGING,
+  STATE_REPOSITION_ON_PAD,
+  STATE_CRASHED,
+};
+
+static enum State state = STATE_IDLE;
+
+ledseqStep_t seq_lock_def[] = {
+  { true, LEDSEQ_WAITMS(1000)},
+  {    0, LEDSEQ_LOOP},
+};
+
+ledseqContext_t seq_lock = {
+  .sequence = seq_lock_def,
+  .led = LED_LOCK,
+};
+
+const uint8_t trajectoryId = 1;
+
+// duration, x0-x7, y0-y7, z0-z7, yaw0-yaw7
+static struct poly4d sequence[] = {
+  {.duration = 0.55, .p = {{3.850187562676742e-11,-6.126680001583386e-07,0.034011535082562466,-0.0003930116221214229,-0.13617012073728407,-0.013475566231476182,0.13052917793131502,-0.04578980321072286}, {5.13033102278894e-11,-6.894694832263486e-07,2.7736466486255528e-05,0.09665022145136354,0.003058298046984803,-0.14597702960520773,0.025898651835890598,0.031816204956814045}, {0.6948075950058442,0.2683789944542717,0.023245728473115564,-0.010134659315685406,-0.00043890670824819824,0.00011480619184472054,3.331435279368211e-06,-6.413660347948354e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+  {.duration = 0.55, .p = {{-6.914788682055622e-11,-0.029193709157554027,-0.10559495462082236,-0.05347086572904071,0.1429864490023195,0.13154711964776383,-0.10576667456482508,-0.004894549656606144}, {0.010222252124903127,0.03695902744452226,-0.0088512292032624,-0.1522994840241329,-0.10473818933895811,0.101347754562758,0.10503082012800732,-0.06287119477122378}, {0.8477274186362265,0.2845134091691316,0.005921828500929774,-0.01074393477303553,-0.00011181155704426794,0.00012171542649083367,8.448121214720302e-07,-6.586027744088609e-0}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+  {.duration = 0.55, .p = {{-0.04019237884462183,-0.07140003156906653,0.1344931065364669,0.2937887095214804,0.009789196771361027,-0.21053548856185011,-0.05387360520003008,0.07164061868443176}, {-7.889581297779964e-11,-0.11478801738672623,-0.20396423865607044,0.07270282032653184,0.2794859692648988,0.07498870791184684,-0.17675426223153057,0.027076140218982695}, {1.0042095323020248,0.28125870522972984,-0.011805634296686286,-0.010621028836870822,0.00022290339530923512,0.00012032988892924413,-1.6993066948952098e-06,-6.309899868949724e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+  {.duration = 0.55, .p = {{7.988284484732011e-11,0.250949124563498,0.2884318844281135,-0.2732723085219975,-0.3971380460135978,0.019843843315547182,0.23402372804388663,-0.06191711498753417}, {-0.08786796558968513,-0.1009753021910108,0.33435181061014774,0.4152184312151822,-0.14220624001585802,-0.30664667217939623,0.019456187255464174,0.07150045317180133}, {1.153589938555835,0.25883668533089255,-0.028728562626473653,-0.009774317339295326,0.0005424278565983879,0.00011074405151188298,-4.127597844930454e-06,-5.60388917887036e-07}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
+  {.duration = 0.55, .p = {{0.1499999999110494,0.1236693334929018,-0.5948073010234445,-0.5083134142475911,0.34088988320791197,0.38313148703735755,-0.10996125300699039,-0.06246025031151826}, {7.204165642107989e-11,0.42839787625064485,0.3532415614668606,-0.5345691196919508,-0.48792488465828615,0.14648785242312232,0.27367225249021054,-0.09725401975942494}, {1.285688609574253,0.21877537307462952,-0.043693686890084134,-0.008261502261561984,0.0008249867228197418,9.361128232250471e-05,-6.274729564937099e-06,-4.5152734395454723e-07}, {1.570796326794896,2.855993321445219,1.1415585581287713e-12,-1.1944049757036972e-11,6.431141607525981e-11,-1.8343792153223745e-10,2.6289169140858755e-10,-1.4907548089075316e-10,}}},
+  {.duration = 0.55, .p = {{-5.590663147591574e-11,-0.6350414332686105,-0.39397659738539126,0.8387863079720367,0.5456595121538056,-0.29631273940020514,-0.29299785427839664,0.130678702950142}, {0.2223542863477553,0.13793556474518312,-0.8981099665280236,-0.5667293893693737,0.5727217708530097,0.43477761941329673,-0.21147382139585272,-0.04513608499171106}, {1.3915032392307496,0.1638048806867086,-0.05568115859886775,-0.006185679463293696,0.001051324141053692,7.009895638961352e-05,-7.994094322078248e-06,-3.1198566063354317e-07}, {-3.1415926535897913,2.855993321445259,2.5087977390525737e-13,-1.1471253057481462e-12,-3.6097331487140355e-12,3.293016202670872e-11,-7.167566690499768e-11,5.132340432324304e-11,}}},
+  {.duration = 0.55, .p = {{-0.2999999998502529,-0.14280177586409412,1.2235902317016245,0.5864854044065786,-0.821902942890023,-0.4580654708546404,0.3170759788277885,0.020708570338654426}, {-3.2577411606298086e-11,-0.8567973787012538,-0.40786096680320616,1.16519197471624,0.5664074090974773,-0.4591081859649081,-0.29068352530931285,0.1599133274637631}, {1.4638227353811781,0.09767135638036385,-0.06387405136662831,-0.0036883128327376896,0.0012060155635279994,4.180948131089076e-05,-9.168649106299251e-06,-1.5119295149245228e-07}, {-1.570796326794896,2.855993321445285,-4.225442457827085e-13,4.4049449702295166e-12,-2.3950348360899724e-11,6.851557251898727e-11,-9.803060051919491e-11,5.52677029888256e-11,}}},
+  {.duration = 0.55, .p = {{3.643713234144152e-12,1.0785534113363267,0.3939484728911548,-1.4915421131692534,-0.5487546404587444,0.6237799510123201,0.266886983994221,-0.18296560239343668}, {-0.3776457133589556,-0.1379363426036038,1.5490671543520358,0.5662351196076164,-1.0714521143729914,-0.4514080123736052,0.41957111221051374,-0.00915759855778746}, {1.497718643876504,0.02488169054632043,-0.06771403309317417,-0.0009395937484483393,0.0012785188596592392,1.0671200625251397e-05,-9.718988081428503e-06,2.0238909278164195e-08}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
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+  {.duration = 0.55, .p = {{-0.040192378935675475,0.07140085425594436,0.13444405880828958,-0.29325853912678074,0.004389222125442104,0.2288780962570675,-0.09946566658297257,-0.008165490863377235}, {3.342506343117202e-12,-0.11478929698434916,0.2039233240328519,0.07188800514013687,-0.28400040903603785,0.047455849220319694,0.1384729396693574,-0.06364285941067112}, {0.4403867969208466,0.1835873488493235,0.05206841707153454,-0.006932716025413217,-0.0009831120388661323,7.85200125196987e-05,7.469934672375333e-06,-4.801436347075494e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+  {.duration = 0.55, .p = {{2.657819140362752e-11,0.029194371526024346,-0.10554318434787024,0.05389264510610344,0.14869556371716416,-0.11729506325396347,-0.057406932212603616,0.05185415937314559}, {-0.01022225217203592,0.036960150373509054,0.00882584023135473,-0.15157853263098095,0.10194295680128089,0.12610945422193115,-0.12863100760957105,0.021560512581067035}, {0.5558712946793309,0.23395499478462367,0.03898547046555688,-0.008834723582265662,-0.0007360910302886222,0.00010007288325451688,5.591396797932501e-06,-5.806568866668146e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+};
+
+static float sequenceTime(struct poly4d sequence[], int count) {
+  float totalDuration = 0.0f;
+
+  for (int i = 0; i < count; i++) {
+    totalDuration += sequence[i].duration;
+  }
+
+  return totalDuration;
+}
+
+static float getX() { return logGetFloat(logIdStateEstimateX); }
+static float getY() { return logGetFloat(logIdStateEstimateY); }
+static float getZ() { return logGetFloat(logIdStateEstimateZ); }
+static float getVarPX() { return logGetFloat(logIdKalmanVarPX); }
+static float getVarPY() { return logGetFloat(logIdKalmanVarPY); }
+static float getVarPZ() { return logGetFloat(logIdKalmanVarPZ); }
+static bool isBatLow() { return logGetInt(logIdPmState) == lowPower; }
+static bool isCharging() { return logGetInt(logIdPmState) == charging; }
+static bool isLighthouseAvailable() { return logGetFloat(logIdlighthouseEstBs0Rt) >= 0.0f || logGetFloat(logIdlighthouseEstBs1Rt) >= 0.0f; }
+
+const baseStationGeometry_t lighthouseGeoData[PULSE_PROCESSOR_N_BASE_STATIONS]  = {
+ {.valid = true, .origin = {-2.057947, 0.398319, 3.109704, }, .mat = {{0.807210, 0.002766, 0.590258, }, {0.067095, 0.993078, -0.096409, }, {-0.586439, 0.117426, 0.801437, }, }},
+ {.valid = true, .origin = {0.866244, -2.566829, 3.132632, }, .mat = {{-0.043296, -0.997675, -0.052627, }, {0.766284, -0.066962, 0.639003, }, {-0.641042, -0.012661, 0.767401, }, }},
+};
+
+lighthouseCalibration_t lighthouseCalibrationData[PULSE_PROCESSOR_N_BASE_STATIONS] = {
+  { // Base station 0
+    .sweep = {
+      {.tilt = -0.047353, .phase = 0.000000, .curve = 0.478887, .gibphase = 1.023093, .gibmag = 0.005071, .ogeephase = 1.136886, .ogeemag = -0.520102, },
+      {.tilt = 0.049104, .phase = -0.006642, .curve = 0.675827, .gibphase = 2.367835, .gibmag = 0.004907, .ogeephase = 1.900456, .ogeemag = -0.457289, },
+    },
+    .uid = 0x3C65D22F,
+    .valid = true,
+  },
+  { // Base station 1
+    .sweep = {
+      {.tilt = -0.048959, .phase = 0.000000, .curve = 0.144913, .gibphase = 1.288635, .gibmag = -0.005397, .ogeephase = 2.004001, .ogeemag = 0.033096, },
+      {.tilt = 0.047509, .phase = -0.004676, .curve = 0.374379, .gibphase = 1.727613, .gibmag = -0.005642, .ogeephase = 2.586835, .ogeemag = 0.117884, },
+    },
+    .uid = 0x34C2AD7E,
+    .valid = true,
+  },
+};
+
+#ifdef USE_MELLINGER
+static void enableMellingerController() { paramSetInt(paramIdStabilizerController, ControllerTypeMellinger); }
+#endif
+static void enableHighlevelCommander() { paramSetInt(paramIdCommanderEnHighLevel, 1); }
+static void useCrossingBeamPositioningMethod() { paramSetInt(paramIdLighthouseMethod, 0); }
+
+static void setupLighthouse() {
+  lighthousePositionSetGeometryData(0, &lighthouseGeoData[0]);
+  lighthousePositionSetGeometryData(1, &lighthouseGeoData[1]);
+
+  lighthouseCoreSetCalibrationData(0, &lighthouseCalibrationData[0]);
+  lighthouseCoreSetCalibrationData(1, &lighthouseCalibrationData[1]);
+
+  useCrossingBeamPositioningMethod();
+}
+
+static void defineTrajectory() {
+  const uint32_t polyCount = sizeof(sequence) / sizeof(struct poly4d);
+  trajectoryDurationMs = 1000 * sequenceTime(sequence, polyCount);
+  crtpCommanderHighLevelWriteTrajectory(0, sizeof(sequence), (uint8_t*)sequence);
+  crtpCommanderHighLevelDefineTrajectory(trajectoryId, CRTP_CHL_TRAJECTORY_TYPE_POLY4D, 0, polyCount);
+}
+
+static void defineLedSequence() {
+  ledseqRegisterSequence(&seq_lock);
+}
+
+void appMain() {
+  if (isInit) {
+    return;
+  }
+
+  DEBUG_PRINT("This is a demo app\n");
+
+  // Get log and param ids
+  logIdStateEstimateX = logGetVarId("stateEstimate", "x");
+  logIdStateEstimateY = logGetVarId("stateEstimate", "y");
+  logIdStateEstimateZ = logGetVarId("stateEstimate", "z");
+  logIdKalmanVarPX = logGetVarId("kalman", "varPX");
+  logIdKalmanVarPY = logGetVarId("kalman", "varPY");
+  logIdKalmanVarPZ = logGetVarId("kalman", "varPZ");
+  logIdPmState = logGetVarId("pm", "state");
+  logIdlighthouseEstBs0Rt = logGetVarId("lighthouse", "estBs0Rt");
+  logIdlighthouseEstBs1Rt = logGetVarId("lighthouse", "estBs1Rt");
+
+  paramIdStabilizerController = paramGetVarId("stabilizer", "controller");
+  paramIdCommanderEnHighLevel = paramGetVarId("commander", "enHighLevel");
+  paramIdLighthouseMethod = paramGetVarId("lighthouse", "method");
+
+
+  timer = xTimerCreate("AppTimer", M2T(20), pdTRUE, NULL, appTimer);
+  xTimerStart(timer, 20);
+
+  pinMode(DECK_GPIO_IO3, INPUT_PULLUP);
+
+  #ifdef USE_MELLINGER
+    enableMellingerController();
+  #endif
+
+  setupLighthouse();
+  enableHighlevelCommander();
+  defineTrajectory();
+  defineLedSequence();
+  resetLockData();
+
+  isInit = true;
+}
+
+static void appTimer(xTimerHandle timer) {
+  uint32_t previous = now;
+  now = xTaskGetTickCount();
+  uint32_t delta = now - previous;
+
+  if(sitAwTuDetected()) {
+    state = STATE_CRASHED;
+  }
+
+  if (isBatLow()) {
+    terminateTrajectoryAndLand = true;
+  }
+
+  switch(state) {
+    case STATE_IDLE:
+      DEBUG_PRINT("Let's go! Waiting for position lock...\n");
+      state = STATE_WAIT_FOR_POSITION_LOCK;
+      break;
+    case STATE_WAIT_FOR_POSITION_LOCK:
+      if (hasLock()) {
+        DEBUG_PRINT("Position lock acquired, ready for take off..\n");
+        ledseqRun(&seq_lock);
+        state = STATE_WAIT_FOR_TAKE_OFF;
+      }
+      break;
+    case STATE_WAIT_FOR_TAKE_OFF:
+      trajectoryStartTime = 0;
+      if (takeOffWhenReady) {
+        takeOffWhenReady = false;
+        DEBUG_PRINT("Taking off!\n");
+
+        padX = getX();
+        padY = getY();
+        padZ = getZ();
+        DEBUG_PRINT("Base position: (%f, %f, %f)\n", (double)padX, (double)padY, (double)padZ);
+
+        terminateTrajectoryAndLand = false;
+        crtpCommanderHighLevelTakeoff(padZ + TAKE_OFF_HEIGHT, 1.0);
+        state = STATE_TAKING_OFF;
+      }
+      break;
+    case STATE_TAKING_OFF:
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        DEBUG_PRINT("Hovering, waiting for command to start\n");
+        ledseqStop(&seq_lock);
+        state = STATE_HOVERING;
+
+      }
+      flightTime += delta;
+      break;
+    case STATE_HOVERING:
+      if (terminateTrajectoryAndLand) {
+          terminateTrajectoryAndLand = false;
+          DEBUG_PRINT("Terminating hovering\n");
+          state = STATE_GOING_TO_PAD;
+      } else {
+        if (goToInitialPositionWhenReady >= 0.0f) {
+          float delayMs = goToInitialPositionWhenReady * trajectoryDurationMs;
+          timeWhenToGoToInitialPosition = now + delayMs;
+          trajectoryStartTime = now + delayMs;
+          goToInitialPositionWhenReady = -1.0f;
+          DEBUG_PRINT("Waiting to go to initial position for %d ms\n", (int)delayMs);
+          state = STATE_WAITING_TO_GO_TO_INITIAL_POSITION;
+        }
+      }
+      flightTime += delta;
+      break;
+    case STATE_WAITING_TO_GO_TO_INITIAL_POSITION:
+      if (now >= timeWhenToGoToInitialPosition) {
+        DEBUG_PRINT("Going to initial position\n");
+        crtpCommanderHighLevelGoTo(sequence[0].p[0][0] + trajecory_center_offset_x, sequence[0].p[1][0] + trajecory_center_offset_y, sequence[0].p[2][0] + trajecory_center_offset_z, sequence[0].p[3][0], DURATION_TO_INITIAL_POSITION, false);
+        state = STATE_GOING_TO_INITIAL_POSITION;
+      }
+      flightTime += delta;
+      break;
+    case STATE_GOING_TO_INITIAL_POSITION:
+      currentProgressInTrajectory = (now - trajectoryStartTime) / trajectoryDurationMs;
+
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        DEBUG_PRINT("At initial position, starting trajectory...\n");
+        crtpCommanderHighLevelStartTrajectory(trajectoryId, SEQUENCE_SPEED, true, false);
+        remainingTrajectories = trajectoryCount - 1;
+        state = STATE_RUNNING_TRAJECTORY;
+      }
+      flightTime += delta;
+      break;
+    case STATE_RUNNING_TRAJECTORY:
+      currentProgressInTrajectory = (now - trajectoryStartTime) / trajectoryDurationMs;
+
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        if (terminateTrajectoryAndLand || (remainingTrajectories == 0)) {
+          terminateTrajectoryAndLand = false;
+          DEBUG_PRINT("Terminating trajectory, going to pad...\n");
+          float timeToPadPosition = 2.0;
+          crtpCommanderHighLevelGoTo(padX, padY, padZ + LANDING_HEIGHT, 0.0, timeToPadPosition, false);
+          currentProgressInTrajectory = NO_PROGRESS;
+          state = STATE_GOING_TO_PAD;
+        } else {
+          if (remainingTrajectories > 0) {
+            DEBUG_PRINT("Trajectory finished, restarting...\n");
+            crtpCommanderHighLevelStartTrajectory(trajectoryId, SEQUENCE_SPEED, true, false);
+          }
+          remainingTrajectories--;
+        }
+      }
+      flightTime += delta;
+      break;
+    case STATE_GOING_TO_PAD:
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        DEBUG_PRINT("Over pad, stabalizing position\n");
+        stabilizeEndTime = now + 5000;
+        state = STATE_WAITING_AT_PAD;
+      }
+      flightTime += delta;
+      break;
+    case STATE_WAITING_AT_PAD:
+      if (now > stabilizeEndTime || ((fabs(padX - getX()) < MAX_PAD_ERR) && (fabs(padY - getY()) < MAX_PAD_ERR))) {
+        if (now > stabilizeEndTime) {
+          DEBUG_PRINT("Warning: timeout!\n");
+        }
+
+        DEBUG_PRINT("Landing...\n");
+        crtpCommanderHighLevelLand(padZ, 1.0);
+        state = STATE_LANDING;
+      }
+      flightTime += delta;
+      break;
+    case STATE_LANDING:
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        DEBUG_PRINT("Landed. Feed me!\n");
+        crtpCommanderHighLevelStop();
+        landingTimeCheckCharge = now + 3000;
+        state = STATE_CHECK_CHARGING;
+      }
+      flightTime += delta;
+      break;
+    case STATE_CHECK_CHARGING:
+      if (now > landingTimeCheckCharge) {
+        DEBUG_PRINT("isCharging: %d\n", isCharging());
+        if (isCharging()) {
+          ledseqRun(&seq_lock);
+          state = STATE_WAIT_FOR_TAKE_OFF;
+        } else {
+          DEBUG_PRINT("Not charging. Try to reposition on pad.\n");
+          crtpCommanderHighLevelTakeoff(padZ + LANDING_HEIGHT, 1.0);
+          state = STATE_REPOSITION_ON_PAD;
+        }
+      }
+      break;
+    case STATE_REPOSITION_ON_PAD:
+      if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+        DEBUG_PRINT("Over pad, stabalizing position\n");
+        crtpCommanderHighLevelGoTo(padX, padY, padZ + LANDING_HEIGHT, 0.0, 1.5, false);
+        state = STATE_GOING_TO_PAD;
+      }
+      flightTime += delta;
+      break;
+    case STATE_CRASHED:
+      crtpCommanderHighLevelStop();
+      break;
+    default:
+      break;
+  }
+}
+
+
+static bool hasLock() {
+  bool result = false;
+
+  // Store current state
+  lockData[lockWriteIndex][0] = getVarPX();
+  lockData[lockWriteIndex][1] = getVarPY();
+  lockData[lockWriteIndex][2] = getVarPZ();
+
+  lockWriteIndex++;
+  if (lockWriteIndex >= LOCK_LENGTH) {
+    lockWriteIndex = 0;
+  }
+
+  // Check if we have a lock
+  int count = 0;
+
+  float lXMax = FLT_MIN;
+  float lYMax = FLT_MIN;
+  float lZMax = FLT_MIN;
+
+  float lXMin = FLT_MAX;
+  float lYMin = FLT_MAX;
+  float lZMin = FLT_MAX;
+
+  for (int i = 0; i < LOCK_LENGTH; i++) {
+    if (lockData[i][0] != FLT_MAX) {
+      count++;
+
+      lXMax = fmaxf(lXMax, lockData[i][0]);
+      lYMax = fmaxf(lYMax, lockData[i][1]);
+      lZMax = fmaxf(lZMax, lockData[i][2]);
+
+      lXMin = fminf(lXMax, lockData[i][0]);
+      lYMin = fminf(lYMin, lockData[i][1]);
+      lZMin = fminf(lZMin, lockData[i][2]);
+    }
+  }
+
+  result =
+    (count >= LOCK_LENGTH) &&
+    ((lXMax - lXMin) < LOCK_THRESHOLD) &&
+    ((lYMax - lYMin) < LOCK_THRESHOLD) &&
+    ((lZMax - lZMin) < LOCK_THRESHOLD &&
+    isLighthouseAvailable() &&  // Make sure we have a deck and the Lighthouses are powered
+    sensorsAreCalibrated());
+
+  return result;
+}
+
+static void resetLockData() {
+    lockWriteIndex = 0;
+    for (uint32_t i = 0; i < LOCK_LENGTH; i++) {
+      lockData[i][0] = FLT_MAX;
+      lockData[i][1] = FLT_MAX;
+      lockData[i][2] = FLT_MAX;
+    }
+}
+
+PARAM_GROUP_START(app)
+  PARAM_ADD(PARAM_UINT8, takeoff, &takeOffWhenReady)
+  PARAM_ADD(PARAM_FLOAT, start, &goToInitialPositionWhenReady)
+  PARAM_ADD(PARAM_UINT8, stop, &terminateTrajectoryAndLand)
+  PARAM_ADD(PARAM_FLOAT, offsx, &trajecory_center_offset_x)
+  PARAM_ADD(PARAM_FLOAT, offsy, &trajecory_center_offset_y)
+  PARAM_ADD(PARAM_FLOAT, offsz, &trajecory_center_offset_z)
+  PARAM_ADD(PARAM_UINT8, trajcount, &trajectoryCount)
+PARAM_GROUP_STOP(app)
+
+LOG_GROUP_START(app)
+  LOG_ADD(LOG_UINT8, state, &state)
+  LOG_ADD(LOG_FLOAT, prgr, &currentProgressInTrajectory)
+  LOG_ADD(LOG_UINT32, uptime, &now)
+  LOG_ADD(LOG_UINT32, flighttime, &flightTime)
+LOG_GROUP_STOP(app)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/cload-all.sh b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/cload-all.sh
new file mode 100755
index 0000000000000000000000000000000000000000..35b4efb5dc6416eaf121ff172ad295dc631ea71f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/cload-all.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+echo "Flasing 1"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E701
+echo "Flasing 2"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E702
+echo "Flasing 3"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E703
+echo "Flasing 4"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E704
+echo "Flasing 5"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E705
+echo "Flasing 6"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E706
+echo "Flasing 7"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E707
+echo "Flasing 8"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E708
+echo "Flasing 9"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E709
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/control_tower.py b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/control_tower.py
new file mode 100755
index 0000000000000000000000000000000000000000..b63a2cd579784f2d866da9d04433425d6c95611a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/control_tower.py
@@ -0,0 +1,620 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2019 Bitcraze AB
+#
+#  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; either version 2
+#  of the License, or (at your option) any later version.
+#
+#  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.
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA  02110-1301, USA.
+
+import time
+import cflib.crtp  # noqa
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+import statistics
+import sys
+import threading
+import math
+
+import zmq
+
+class TrafficController:
+    CS_DISCONNECTED = 0
+    CS_CONNECTING = 1
+    CS_CONNECTED = 2
+
+    STATE_UNKNOWN = -1
+    STATE_IDLE = 0
+    STATE_WAIT_FOR_POSITION_LOCK = 1
+    STATE_WAIT_FOR_TAKE_OFF = 2  # Charging
+    STATE_TAKING_OFF = 3
+    STATE_HOVERING = 4
+    STATE_WAITING_TO_GO_TO_INITIAL_POSITION = 5
+    STATE_GOING_TO_INITIAL_POSITION = 6
+    STATE_RUNNING_TRAJECTORY = 7
+    STATE_GOING_TO_PAD = 8
+    STATE_WAITING_AT_PAD = 9
+    STATE_LANDING = 10
+    STATE_CHECK_CHARGING = 11
+    STATE_REPOSITION_ON_PAD = 12
+    STATE_CRASHED = 13
+
+    NO_PROGRESS = -1000.0
+
+    PRE_STATE_TIMEOUT = 3
+
+    def __init__(self, uri):
+        self.uri = uri
+        self.stay_alive = True
+        self.reset_internal()
+        self.connection_thread = threading.Thread(target=self.process)
+        self.connection_thread.start()
+
+    def reset_internal(self):
+        self.connection_state = self.CS_DISCONNECTED
+        self._cf = None
+        self._log_conf = None
+        self.copter_state = self.STATE_UNKNOWN
+        self.vbat = -1.0
+        self._time_for_next_connection_attempt = 0
+        self.traj_cycles = None
+        self.est_x = 0.0
+        self.est_y = 0.0
+        self.est_z = 0.0
+        self.up_time_ms = 0
+        self.flight_time_ms = 0
+
+        # Pre states are used to prevent multiple calls to a copter
+        # when waiting for the remote state to change
+        self._pre_state_taking_off_end_time = 0
+        self._pre_state_going_to_initial_position_end_time = 0
+
+    def _pre_state_taking_off(self):
+        return self._pre_state_taking_off_end_time > time.time()
+
+    def _pre_state_going_to_initial_position(self):
+        return self._pre_state_going_to_initial_position_end_time > time.time()
+
+    def is_connected(self):
+        return self.connection_state == self.CS_CONNECTED
+
+    def has_found_position(self):
+        return self.copter_state > self.STATE_WAIT_FOR_POSITION_LOCK
+
+    def is_taking_off(self):
+        return self.copter_state == self.STATE_TAKING_OFF or self._pre_state_taking_off()
+
+    def is_ready_for_flight(self):
+        return self.copter_state == self.STATE_HOVERING and not self._pre_state_going_to_initial_position()
+
+    def is_flying(self):
+        return self.copter_state == self.STATE_RUNNING_TRAJECTORY or \
+               self.copter_state == self.STATE_WAITING_TO_GO_TO_INITIAL_POSITION or \
+               self.copter_state == self.STATE_GOING_TO_INITIAL_POSITION or \
+               self._pre_state_going_to_initial_position()
+
+    def is_landing(self):
+        return self.copter_state == self.STATE_GOING_TO_PAD or \
+               self.copter_state == self.STATE_WAITING_AT_PAD or \
+               self.copter_state == self.STATE_LANDING or \
+               self.copter_state == self.STATE_CHECK_CHARGING or \
+               self.copter_state == self.STATE_REPOSITION_ON_PAD
+
+    def is_charging(self):
+        return self.copter_state == self.STATE_WAIT_FOR_TAKE_OFF and not self._pre_state_taking_off()
+
+    def is_crashed(self):
+        return self.copter_state == self.STATE_CRASHED
+
+    def take_off(self):
+        if self.is_charging():
+            if self._cf:
+                self._pre_state_taking_off_end_time = time.time() + self.PRE_STATE_TIMEOUT
+                self._cf.param.set_value('app.takeoff', 1)
+
+    def start_trajectory(self, trajectory_delay, offset_x=0.0, offset_y=0.0, offset_z=0.0):
+        if self.is_ready_for_flight():
+            if self._cf:
+                self._cf.param.set_value('app.offsx', offset_x)
+                self._cf.param.set_value('app.offsy', offset_y)
+                self._cf.param.set_value('app.offsz', offset_z)
+
+                self._pre_state_going_to_initial_position_end_time = time.time() + self.PRE_STATE_TIMEOUT
+                self._cf.param.set_value('app.start', trajectory_delay)
+
+    def force_land(self):
+        if self.connection_state == self.CS_CONNECTED:
+            self._cf.param.set_value('app.stop', 1)
+
+    def set_trajectory_count(self, count):
+        if self.connection_state == self.CS_CONNECTED:
+            self._cf.param.set_value('app.trajcount', count)
+
+    def get_charge_level(self):
+        return self.vbat
+
+    def is_charged_for_flight(self):
+        return self.vbat > 4.10
+
+    def get_traj_cycles(self):
+        return self.traj_cycles
+
+    def process(self):
+        while self.stay_alive:
+            if self.connection_state == self.CS_DISCONNECTED:
+                if time.time() > self._time_for_next_connection_attempt:
+                    self._connect()
+
+            time.sleep(1)
+        self._cf.close_link()
+
+    def _connected(self, link_uri):
+        self.connection_state = self.CS_CONNECTED
+        print('Connected to %s' % link_uri)
+
+        self.set_trajectory_count(2)
+        self._setup_logging()
+
+    def _connection_failed(self, link_uri, msg):
+        print('Connection to %s failed: %s' % (link_uri, msg))
+        self._set_disconnected(5)
+
+    def _connection_lost(self, link_uri, msg):
+        print('Connection to %s lost: %s' % (link_uri, msg))
+
+    def _disconnected(self, link_uri):
+        print('Disconnected from %s' % link_uri)
+        self._set_disconnected()
+
+    def _set_disconnected(self, hold_back_time=5):
+        self.reset_internal()
+        self._time_for_next_connection_attempt = time.time() + hold_back_time
+
+    def _connect(self):
+        if self.connection_state != self.CS_DISCONNECTED:
+            print("Can only connect when disconnected")
+            return
+
+        self.connection_state = self.CS_CONNECTING
+
+        self._cf = Crazyflie(rw_cache='./cache')
+
+        self._cf.connected.add_callback(self._connected)
+        self._cf.disconnected.add_callback(self._disconnected)
+        self._cf.connection_failed.add_callback(self._connection_failed)
+        self._cf.connection_lost.add_callback(self._connection_lost)
+
+        print("Connecting to " + self.uri)
+        self._cf.open_link(self.uri)
+
+    def _setup_logging(self):
+        # print("Setting up logging")
+        self._log_conf = LogConfig(name='Tower', period_in_ms=100)
+        self._log_conf.add_variable('app.state', 'uint8_t')
+        self._log_conf.add_variable('app.prgr', 'float')
+        self._log_conf.add_variable('app.uptime', 'uint32_t')
+        self._log_conf.add_variable('app.flighttime', 'uint32_t')
+        self._log_conf.add_variable('pm.vbat', 'float')
+        self._log_conf.add_variable('stateEstimate.x', 'float')
+        self._log_conf.add_variable('stateEstimate.y', 'float')
+
+        self._cf.log.add_config(self._log_conf)
+        self._log_conf.data_received_cb.add_callback(self._log_data)
+        self._log_conf.start()
+
+    def _log_data(self, timestamp, data, logconf):
+        self.copter_state = data['app.state']
+
+        if self.copter_state != self.STATE_WAIT_FOR_TAKE_OFF:
+            self._pre_state_taking_off_end_time = 0
+
+        if self.copter_state != self.STATE_HOVERING:
+            self._pre_state_going_to_initial_position_end_time = 0
+
+        self.vbat = data['pm.vbat']
+
+        self.up_time_ms = data['app.uptime']
+        self.flight_time_ms = data['app.flighttime']
+
+        self.traj_cycles = data['app.prgr']
+        if self.traj_cycles <= self.NO_PROGRESS:
+            self.traj_cycles = None
+
+        self.est_x = data['stateEstimate.x']
+        self.est_y = data['stateEstimate.y']
+
+    def dump(self):
+        print("***", self.uri)
+        print("  Connection state:", self.connection_state)
+        print("  Copter state:", self.copter_state)
+        print("  Bat:", self.vbat)
+        print("  Up time:", self.up_time_ms / 1000)
+        print("  Flight time:", self.flight_time_ms / 1000)
+        print("  _pre_state_taking_off:", self._pre_state_taking_off())
+        print("  _pre_state_going_to_initial_position:", self._pre_state_going_to_initial_position())
+
+    def terminate(self):
+        self.stay_alive = False
+
+
+class TowerBase:
+    def __init__(self, uris, report_socket=None):
+        self.controllers = []
+        self._uris = uris
+        for uri in uris:
+            self.controllers.append(TrafficController(uri))
+        self.report_socket = report_socket
+
+    def connected_count(self):
+        count = 0
+        for controller in self.controllers:
+            if controller.is_connected():
+                count += 1
+        return count
+
+    def flying_count(self):
+        count = 0
+        for controller in self.controllers:
+            if controller.is_flying():
+                count += 1
+        return count
+
+    def find_best_controllers(self):
+        too_low_battery = []
+
+        charging_controllers = []
+        for controller in self.controllers:
+            if controller.is_charging():
+                charge = controller.get_charge_level()
+                if controller.is_charged_for_flight():
+                    charging_controllers.append((controller, charge))
+                else:
+                    too_low_battery.append(
+                        "{} ({:.2f}V)".format(controller.uri, charge))
+
+        if len(too_low_battery) > 0:
+            print("Ready but must charge:", too_low_battery)
+
+        charging_controllers.sort(key=lambda d: d[1], reverse=True)
+
+        return list(map(lambda d: d[0], charging_controllers))
+
+    def land_all(self):
+        for controller in self.controllers:
+            controller.force_land()
+
+    def dump_state(self):
+        print('Waiting for connections...')
+        end_time = time.time() + 40
+        while time.time() < end_time and self.connected_count() < len(
+                self._uris):
+            time.sleep(1)
+
+        print("Dumping state")
+        print()
+        for controller in self.controllers:
+            controller.dump()
+            controller.terminate()
+
+    def send_report(self):
+        if self.report_socket is None:
+            return
+
+        for i, controller in enumerate(self.controllers):
+            state = "idle"
+            if not controller.is_connected():
+                state = "disconnected"
+            elif controller.is_crashed():
+                state = "crashed"
+            elif controller.is_flying():
+                state = "flying"
+            elif controller.is_taking_off():
+                state = "hovering"
+            elif controller.is_landing():
+                state = "landing"
+            elif controller.is_charged_for_flight():
+                state = "ready"
+            elif controller.is_charging():
+                state = "charging"
+
+            try:
+                report = {
+                    'id': i,
+                    'state': state,
+                    'battery': controller.get_charge_level(),
+                    'uptime': controller.up_time_ms,
+                    'flighttime': controller.flight_time_ms,
+                }
+                self.report_socket.send_json(report, zmq.NOBLOCK)
+            except Exception:
+                pass
+
+
+class Tower(TowerBase):
+    def __init__(self, uris, report_socket=None):
+        TowerBase.__init__(self, uris, report_socket)
+
+    def fly(self, wanted):
+         # Wait for all CF to connect (to avoid race)
+        time.sleep(10)
+
+        while True:
+            # print()
+            if wanted:
+                currently_flying = self.flying_count()
+                missing = wanted - currently_flying
+                if missing > 0:
+                    print("Want", missing, "more copters")
+                    self.prepare_copters(missing)
+                    self.start_copters(missing, wanted)
+            else:
+                self.land_all()
+
+            self.send_report()
+
+            time.sleep(0.2)
+
+    def prepare_copters(self, count):
+        prepared_count = 0
+        for controller in self.controllers:
+            if controller.is_taking_off() or controller.is_ready_for_flight():
+                prepared_count += 1
+
+        missing = count - prepared_count
+        new_prepared_count = 0
+        if missing > 0:
+            print("Trying to prepare", missing, "copter(s)")
+            best_controllers = self.find_best_controllers()
+            for best_controller in best_controllers[:missing]:
+                if best_controller:
+                    print("Preparing " + best_controller.uri)
+                    new_prepared_count += 1
+                    best_controller.take_off()
+            print("Prepared", new_prepared_count, "copter(s)")
+
+    def start_copters(self, count, total):
+        unused_slot_times = self.find_unused_slot_times(total)
+        # print("Unused slot times:", unused_slot_times)
+
+        slot_index = 0
+        for controller in self.controllers:
+            if controller.is_ready_for_flight():
+                if slot_index < count and slot_index < len(unused_slot_times):
+                    trajectory_delay = 1.0 - unused_slot_times[slot_index]
+                    if trajectory_delay == 1.0:
+                        trajectory_delay = 0.0
+                    print("Starting prepared copter", controller.uri,
+                          'with a delay of', trajectory_delay)
+                    controller.start_trajectory(trajectory_delay, offset_z=0.25)
+                    slot_index += 1
+                else:
+                    return
+
+    def find_unused_slot_times(self, total_slots):
+        # Times are measured in trajectory cycles
+        start_times = []
+        for controller in self.controllers:
+            if controller.is_flying():
+                start_time = controller.get_traj_cycles()
+
+                # If a is flying but has not updated the start time yes we do
+                # not have enough information to calculate empty slots.
+                # Return no unused slots for now
+                if start_time is None:
+                    # print("Start time is unknown, hold back")
+                    return []
+
+                start_times.append(start_time)
+
+        # print("Used start times", start_times)
+        return self.crunch_slot_times(start_times, total_slots)
+
+    def crunch_slot_times(self, start_times, total_slots):
+        # Start times may be multiple cycles ago, remove integer parts
+        start_time_fractions = list(map(lambda t: t % 1.0, start_times))
+
+        # Find the average offset
+        offsets = list(
+            map(lambda t: (t * total_slots) % 1.0, start_time_fractions))
+        offset = 0.0
+        if len(start_times) > 0:
+            offset = statistics.mean(offsets) / total_slots
+
+        adjusted_start_times = list(
+            map(lambda t: t - offset, start_time_fractions))
+
+        closest_slots = list(
+            map(lambda t: round(t * total_slots), adjusted_start_times))
+        unused_slots = list(
+            filter(lambda s: s not in closest_slots, range(total_slots)))
+
+        unsued_slot_times = list(
+            map(lambda s: offset + s / total_slots, unused_slots))
+        return unsued_slot_times
+
+
+class SyncTower(TowerBase):
+    def __init__(self, uris, report_socket=None):
+        TowerBase.__init__(self, uris, report_socket)
+        self.spacing = 0.40
+        self.line_orientation = math.radians(40)
+
+        master_offset = [0, 0]
+        self._start_position = [
+            [   0 + master_offset[0],    0 + master_offset[1], 0],
+            [   0 + master_offset[0],  0.5 + master_offset[1], 0],
+            [   0 + master_offset[0], -0.5 + master_offset[1], 0],
+            [ 0.5 + master_offset[0],    0 + master_offset[1], 0],
+            [-0.5 + master_offset[0],    0 + master_offset[1], 0],
+            [ 0.5 + master_offset[0],  0.5 + master_offset[1], 0],
+            [-0.5 + master_offset[0], -0.5 + master_offset[1], 0],
+            [-0.5 + master_offset[0],  0.5 + master_offset[1], 0],
+            [ 0.5 + master_offset[0], -0.5 + master_offset[1], 0]
+        ]
+
+
+    def fly(self, wanted):
+        while True:
+            if wanted:
+                best = self.find_best_controllers()
+                ready = list(
+                    filter(lambda ctrlr: ctrlr.has_found_position(), best))
+                found_count = len(ready)
+
+                if found_count >= wanted:
+                    self.start_line(wanted, ready)
+                    print("Started, I'm done")
+                    sys.exit(0)
+                else:
+                    print('Can only find ', found_count,
+                          'copter(s) that are charged and ready')
+            else:
+                self.land_all()
+
+            self.send_report()
+
+            time.sleep(0.2)
+
+    def start_line(self, wanted, best):
+        self.prepare_copters(wanted, best)
+
+        while not self.start_copters(wanted, best):
+            time.sleep(1)
+
+    def prepare_copters(self, count, best_controllers):
+        prepared_count = 0
+        for controller in self.controllers:
+            if controller.is_taking_off() or controller.is_ready_for_flight():
+                prepared_count += 1
+
+        missing = count - prepared_count
+        new_prepared_count = 0
+        if missing > 0:
+            print("Trying to prepare", missing, "copter(s)")
+            for best_controller in best_controllers[:missing]:
+                if best_controller:
+                    print("Preparing " + best_controller.uri)
+                    new_prepared_count += 1
+                    best_controller.take_off()
+            print("Prepared", new_prepared_count, "copter(s)")
+
+    def start_copters(self, wanted, best):
+        ready = []
+        for controller in best:
+            if controller.is_ready_for_flight():
+                ready.append(controller)
+
+        if len(ready) >= wanted:
+            ready_positions = []
+            for controller in ready:
+                ready_positions.append([controller.est_x, controller.est_y, controller.est_z])
+
+            offsets = self.get_start_offsets(ready_positions, self._start_position[:wanted])
+
+            index = 0
+            for controller in ready:
+                offset_x = offsets[index][0]
+                offset_y = offsets[index][1]
+                offset_z = offsets[index][2]
+                controller.start_trajectory(0.0, offset_x=offset_x,
+                                            offset_y=offset_y,
+                                            offset_z=offset_z)
+                index += 1
+
+            return True
+        else:
+            return False
+
+    def calculate_distance(self, p1, p2):
+        diff = [0,0,0]
+        diff[0] = p1[0]-p2[0]
+        diff[1] = p1[1]-p2[1]
+        diff[2] = p1[2]-p2[2]
+        return math.sqrt( (diff[0]*diff[0]) + (diff[1]*diff[1]) + (diff[2]*diff[2]) )
+
+    def find_closest_target(self, start_position, targets_position):
+        min_distance = None
+        closest_index = 0
+        for index, target in enumerate(targets_position):
+            dist = self.calculate_distance(start_position, target)
+            if min_distance is None or dist < min_distance:
+                min_distance = dist
+                closest_index = index
+        
+        return targets_position[closest_index]
+
+    def get_start_offsets(self, start_positions, targets_positions):
+        offsets = []
+        target_used = [False,] * len(targets_positions)
+        for start in start_positions:
+            candidate_targets = []
+            for i in range(len(targets_positions)):
+                if not target_used[i]:
+                    candidate_targets.append(targets_positions[i])
+            
+            closest_target = self.find_closest_target(start, candidate_targets)
+            target_used[targets_positions.index(closest_target)] = True
+            offsets.append(closest_target)
+        
+        return offsets
+
+
+uris = [
+    'radio://0/10/2M/E7E7E7E701',
+    'radio://0/10/2M/E7E7E7E702',
+    'radio://0/10/2M/E7E7E7E703',
+    'radio://0/10/2M/E7E7E7E704',
+    'radio://0/10/2M/E7E7E7E705',
+    'radio://0/10/2M/E7E7E7E706',
+    'radio://0/10/2M/E7E7E7E707',
+    'radio://0/10/2M/E7E7E7E708',
+    'radio://0/10/2M/E7E7E7E709'
+]
+
+count = 1
+mode = 'normal'
+
+if len(sys.argv) > 1:
+    if sys.argv[1] == 'd':
+        mode = 'dump'
+    else:
+        count = int(sys.argv[1])
+
+if len(sys.argv) > 2:
+    if sys.argv[2] == 's':
+        mode = 'synch'
+
+context = zmq.Context()
+socket = context.socket(zmq.PUSH)
+socket.bind("tcp://*:5555")
+
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+print('Starting tower with', count, 'Crazyflie(s)')
+if mode == 'synch':
+    print('Flying with synchronized trajectories')
+    tower = SyncTower(uris, socket)
+else:
+    print('Flying with interleaved trajectories')
+    tower = Tower(uris, socket)
+
+if not mode == 'dump':
+    tower.fly(count)
+else:
+    tower.dump_state()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/towergui.py b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/towergui.py
new file mode 100755
index 0000000000000000000000000000000000000000..9b737c76790608ac4d71a63a573a4a23536c9fcb
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/control_tower/towergui.py
@@ -0,0 +1,158 @@
+#!/usr/bin/env python3
+import tkinter
+from tkinter import *
+import tkinter.ttk as ttk
+import zmq
+import threading
+import time
+
+
+class Crazyflie(ttk.Frame):
+    def __init__(self, parent, ident):
+        ttk.Frame.__init__(self, parent)
+
+        self['padding'] = 10
+
+        self._name = Label(self, text="Crazyflie #{}".format(ident+1))
+        self._name.grid(row=0, column=0)
+
+        self._status = Label(self, text="IDLE", fg='grey', font=("ubuntu", 33), width=10)
+        self._status.grid(row=1, column=0)
+
+        self._battery_label = Label(self, text="Battery:")
+        self._battery_label.grid(row=2, column=0)
+
+        self._battery_frame = ttk.Frame(self)
+        self._battery_frame.grid(row=3, column=0, sticky="ew")
+        self._battery_frame.columnconfigure(1, weight=2)
+
+        self._battery_voltage = ttk.Label(self._battery_frame, text="3.0V", padding=(0,0,10,0))
+        self._battery_voltage.grid(row=0, column=0)
+        
+        self._battery_bar = ttk.Progressbar(self._battery_frame, orient=HORIZONTAL)
+        self._battery_bar['value'] = 50
+        self._battery_bar.grid(row=0, column=1, sticky="ew")
+
+        self._time_frame = ttk.Frame(self)
+        self._time_frame.grid(row=4, column=0)
+
+        up_time = Label(self._time_frame, text="Up time: ", fg="grey", font=("ubuntu", 20))
+        up_time.grid(row=0, column=0)
+
+        self._up_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
+        self._up_time_label.grid(row=0, column=1)
+
+        flight_time = Label(self._time_frame, text="Flight time: ", fg="grey", font=("ubuntu", 20))
+        flight_time.grid(row=1, column=0)
+
+        self._flight_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
+        self._flight_time_label.grid(row=1, column=1)
+
+
+    
+    def set_state(self, state):
+        if state == "idle":
+            self._status.config(text="IDLE", fg="grey")
+        elif state == "disconnected":
+            self._status.config(text="Offline", fg="grey")
+        elif state == "crashed":
+            self._status.config(text="Crashed", fg="purple")
+        elif state == "charging":
+            self._status.config(text="Charging", fg="red")
+        elif state == "ready":
+            self._status.config(text="Ready", fg="orange")
+        elif state == "flying":
+            self._status.config(text="Flying", fg="green")
+        elif state == "hovering":
+            self._status.config(text="Take off", fg="green")
+        elif state == "landing":
+            self._status.config(text="Landing", fg="green")
+        else:
+            self._status.config(text="ERROR", fg="purple")
+            print("Error, state", state, "not handled")
+
+    def set_battery(self, voltage):
+        self._battery_voltage['text'] = "{:.2f}V".format(voltage)
+
+        percent = (voltage - 3.0)*100.0/1.1
+
+        self._battery_bar['value'] = percent
+    
+    def set_uptime(self, ms):
+        seconds = int(ms/1000) % 60
+        minutes = int((ms/1000)/60) % 60
+        hours = int((ms/1000)/3600)
+        self._up_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
+        if ms == 0:
+            self._up_time_label['fg'] = "grey"
+        else:
+            self._up_time_label['fg'] = "black"
+    
+    def set_flighttime(self, ms):
+        seconds = int(ms/1000) % 60
+        minutes = int((ms/1000)/60) % 60
+        hours = int((ms/1000)/3600)
+        self._flight_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
+        if ms == 0:
+            self._flight_time_label['fg'] = "grey"
+        else:
+            self._flight_time_label['fg'] = "black"
+
+
+root = tkinter.Tk()
+root.title("ICRA2019 Bitcraze Control Tower")
+
+content = ttk.Frame(root)
+content.grid(column=0, row=0)
+root.columnconfigure(0, weight=1)
+root.rowconfigure(0, weight=1)
+
+cfs = []
+
+for i in range(9):
+    r = int(i/3)
+    c = int(i%3)
+    cf = Crazyflie(content, i)
+    cf.grid(column=c, row=r)
+    cfs.append(cf)
+
+    cf.set_state("error")
+    cf.set_battery(3.0+(i/10.0))
+
+context = zmq.Context()
+
+socket = context.socket(zmq.PULL)
+# socket.connect("tcp://bitcrazeDemo:5555")
+socket.connect("tcp://127.0.0.1:5555")
+socket.setsockopt(zmq.RCVTIMEO, 1000)
+
+
+def receive_thread():
+    last_updated = [0]*len(cfs)
+    while True:
+        try:
+            report = socket.recv_json()
+            print(report)
+
+            cfs[report['id']].set_battery(report['battery'])
+            cfs[report['id']].set_state(report['state'])
+            cfs[report['id']].set_uptime(report['uptime'])
+            cfs[report['id']].set_flighttime(report['flighttime'])
+            last_updated[report['id']] = time.time()
+        except zmq.error.Again:
+            pass
+
+        for i in range(len(cfs)):
+            if last_updated[i] < (time.time()-1):
+                cfs[i].set_state("idle")
+                cfs[i].set_battery(0)
+                cfs[i].set_uptime(0)
+                cfs[i].set_flighttime(0)
+
+
+cfs[0].set_uptime(300000)
+cfs[0].set_flighttime(140000)
+
+threading.Thread(target=receive_thread, daemon=True).start()
+
+root.mainloop()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/visualization-live.py b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/visualization-live.py
new file mode 100644
index 0000000000000000000000000000000000000000..751f672ca82d587326a6b813c33d266cdcfe6c66
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/examples/demos/swarm_demo/visualization-live.py
@@ -0,0 +1,173 @@
+from vispy import scene
+from vispy.scene import XYZAxis, LinePlot, Node, Mesh, TurntableCamera, Markers
+import numpy as np
+from vispy.visuals.transforms import MatrixTransform
+import math
+import threading
+import time
+import logging
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.crazyflie.syncLogger import SyncLogger
+from cflib.crazyflie.mem import MemoryElement
+
+logging.basicConfig(level=logging.ERROR)
+
+
+class AnimCanvas(scene.SceneCanvas):
+    def __init__(self):
+        scene.SceneCanvas.__init__(self, keys='interactive', size=(800, 600),
+                                   show=True)
+
+
+class Visulizer:
+    def __init__(self):
+        self.terminate = False
+
+        self.canvas = AnimCanvas()
+
+        self.view = self.canvas.central_widget.add_view()
+        self.view.bgcolor = '#ffffff'
+        self.view.camera = TurntableCamera(fov=10.0, distance=40.0, up='+z',
+                                           center=(0.0, 1.0, 0.0))
+
+        self.scene = self.view.scene
+
+        XYZAxis(parent=self.scene)
+
+        self.base_stations = [
+            {
+                'origin': [-1.9584829807281494, 0.5422989726066589, 3.152726888656616],
+                'mat': [
+                    [0.7972149848937988, -0.004273999948054552, 0.6036810278892517],
+                    [0.0, 0.9999750256538391, 0.007079999893903732],
+                    [-0.6036959886550903, -0.005644999910145998, 0.7971950173377991]]
+            },
+            {
+                'origin': [1.0623979568481445, -2.563488006591797, 3.1123669147491455],
+                'mat': [
+                    [0.018067000433802605, -0.9993360042572021, 0.03164700046181679],
+                    [0.7612509727478027, 0.034269001334905624, 0.6475520133972168],
+                    [-0.6482059955596924, 0.012392000295221806, 0.7613639831542969]]
+            },
+        ]
+
+        self.angles = [
+            [0.19170784950256348, 0.01734159141778946],
+            [-0.12198804318904877, -0.3505938947200775],
+        ]
+
+        self.objs = [{}, {}]
+        self.generate_scene()
+
+    def generate_scene(self):
+        p = [0, 0, 0]
+
+        for i in range(2):
+            objs = self.objs[i]
+
+            if i == 0:
+                objs['bs'] = self.marker(p, color='green')
+            else:
+                objs['bs'] = self.marker(p, color='red')
+
+            objs['tripod'] = self.line(p, p, color='blue')
+            objs['center_line'] = self.line(p, p, color="green")
+            objs['beam'] = self.line(p, p, color="red")
+
+    def update_scene(self):
+        normal = [1, 0, 0]
+        for i in range(2):
+            objs = self.objs[i]
+
+            bs = self.base_stations[i]
+            origin = bs['origin']
+            self.update_marker(objs['bs'], origin)
+            self.update_line(objs['tripod'], [origin[0], origin[1], 0], origin)
+
+            rot_bs = np.array(bs['mat'])
+            center_line = np.dot(rot_bs, normal)
+            self.update_line(objs['center_line'], origin,
+                             np.add(center_line, origin))
+
+            ################
+
+            a = self.angles[i]
+
+            a_x = a[0]
+            a_y = a[1]
+
+            beam_direction = np.array([1, math.tan(a_x), math.tan(a_y)])
+            beam_line_local = 4 * beam_direction / np.linalg.norm(beam_direction)
+            beam_line = np.dot(rot_bs, beam_line_local)
+
+            self.update_line(objs['beam'], origin, np.add(beam_line, origin))
+
+    def marker(self, pos, color='black'):
+        return Markers(pos=np.array(pos, ndmin=2), face_color=color,
+                       parent=self.scene)
+
+    def update_marker(self, marker, pos):
+        marker.set_data(np.array(pos, ndmin=2))
+
+    def line(self, p1, p2, color='black'):
+        return LinePlot([p1, p2], color=color, parent=self.scene,
+                        marker_size=0)
+
+    def update_line(self, line, p1, p2):
+        line.set_data(data=[p1, p2], marker_size=0)
+
+    def run(self):
+        print('starting CF thread')
+        self.t = threading.Thread(target=self.cf_handler)
+        self.t.start()
+
+        self.canvas.app.run()
+        self.terminate = True
+
+    def cf_handler(self):
+        uri = "radio://0/30"
+
+        lg_block = LogConfig(name='LH', period_in_ms=50)
+        lg_block.add_variable('lighthouse.angle0x', 'float')
+        lg_block.add_variable('lighthouse.angle0y', 'float')
+        lg_block.add_variable('lighthouse.angle1x', 'float')
+        lg_block.add_variable('lighthouse.angle1y', 'float')
+
+        cf = Crazyflie(rw_cache='./cache')
+        with SyncCrazyflie(uri, cf=cf) as scf:
+            print("Getting LH geometry")
+            mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
+            mems[0].update(self._update_geometry)
+
+            with SyncLogger(scf, lg_block) as logger:
+                for log_entry in logger:
+                    data = log_entry[1]
+
+                    self.angles[0][0] = data['lighthouse.angle0x']
+                    self.angles[0][1] = data['lighthouse.angle0y']
+                    self.angles[1][0] = data['lighthouse.angle1x']
+                    self.angles[1][1] = data['lighthouse.angle1y']
+
+                    if self.terminate:
+                        break
+
+                    self.update_scene()
+
+    def _update_geometry(self, mem):
+        print("Received LH geometry")
+        for i in range(2):
+            self.base_stations[i]['origin'] = mem.geometry_data[i].origin
+            self.base_stations[i]['mat'] = mem.geometry_data[i].rotation_matrix
+            print(self.base_stations[i])
+
+        self.update_scene()
+
+
+# Initialize the low-level drivers (don't list the debug drivers)
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+viz = Visulizer()
+viz.run()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/module.json b/crazyflie_software/crazyflie-firmware-lab-part-1/module.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49897f452f73d8d2ceb606916daaaf3f5058dc6
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/module.json
@@ -0,0 +1,29 @@
+{
+  "version": "2.0",
+  "environmentReqs": {
+    "build": ["arm-none-eabi"],
+    "build-docs": ["doxygen"]
+  },
+  "artifacts": {
+    "file": [
+      {
+        "source": "*.bin",
+        "insertTag": true,
+        "destination": "currDir"
+      },
+      {
+        "source": "*.dfu",
+        "insertTag": true,
+        "destination": "currDir"
+      }
+    ]
+  },
+  "targets": {
+    "cf2": [
+      "PLATFORM=cf2"
+    ],
+    "tag": [
+      "PLATFORM=tag"
+    ]
+  }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/core/test_deck_memory.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/core/test_deck_memory.c
new file mode 100644
index 0000000000000000000000000000000000000000..4678f665b4c9f8c5909b7be9a5dd19ee35dede8f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/core/test_deck_memory.c
@@ -0,0 +1,421 @@
+// File under test deck_memory.c
+#include "deck_memory.h"
+
+#include "unity.h"
+#include "mock_deck_core.h"
+#include "mock_mem.h"
+
+#include <string.h>
+
+// Functions under test
+bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
+bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
+
+
+// Fixtures
+uint8_t stockDeckProperties;
+uint8_t stockDeckPropertiesFcn() { return stockDeckProperties; }
+
+uint32_t read_vAddr;
+uint8_t read_len;
+bool read_isCalled;
+bool mockRead(const uint32_t vAddr, const uint8_t len, uint8_t* buffer) { read_isCalled = true; read_vAddr = vAddr; read_len = len; return true; }
+
+uint32_t write_vAddr;
+uint8_t write_len;
+bool write_isCalled;
+bool mockWrite(const uint32_t vAddr, const uint8_t len, const uint8_t* buffer) { write_isCalled = true; write_vAddr = vAddr; write_len = len; return true; }
+
+char* stockName = "A name";
+DeckMemDef_t stockMemDef;
+DeckDriver stockDriver;
+DeckInfo stockInfo;
+
+
+// Constants
+#define SIZE_ONE_DECK 0x20
+#define MAX_NR_DECKS 4
+#define BUF_SIZE (SIZE_ONE_DECK * MAX_NR_DECKS)
+uint8_t buffer[BUF_SIZE];
+
+#define DECK_0 (1 + 0 * SIZE_ONE_DECK)
+#define DECK_1 (1 + 1 * SIZE_ONE_DECK)
+#define DECK_2 (1 + 2 * SIZE_ONE_DECK)
+#define DECK_3 (1 + 3 * SIZE_ONE_DECK)
+
+#define DECK_MEM_SIZE 0x10000000
+
+const uint8_t MASK_IS_VALID          = 1;
+const uint8_t MASK_IS_STARTED        = 2;
+const uint8_t MASK_SUPPORTS_READ     = 4;
+const uint8_t MASK_SUPPORTS_WRITE    = 8;
+const uint8_t MASK_SUPPORTS_UPGRADE  = 16;
+const uint8_t MASK_UPGRADE_REQUIRED  = 32;
+const uint8_t MASK_BOOTLOADER_ACTIVE = 64;
+
+
+void setUp() {
+    memset(buffer, 0, BUF_SIZE);
+    stockDeckProperties = 0;
+
+    // Stock deck definition
+    memset(&stockMemDef, 0, sizeof(stockMemDef));
+    stockMemDef.properties = stockDeckPropertiesFcn;
+
+    memset(&stockDriver, 0, sizeof(stockDriver));
+    stockDriver.memoryDef = &stockMemDef;
+    stockDriver.name = stockName;
+
+    memset(&stockInfo, 0, sizeof(stockInfo));
+    stockInfo.driver = &stockDriver;
+
+    read_isCalled = false;
+    read_vAddr = 0;
+    read_len = 0;
+
+    write_isCalled = false;
+    write_vAddr = 0;
+    write_len = 0;
+}
+
+void testFirstByteIsVersion() {
+    // Fixture
+    deckCount_ExpectAndReturn(0);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(1, buffer[0]);
+}
+
+void testNoInstalledDecks() {
+    // Fixture
+    deckCount_ExpectAndReturn(0);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_0]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_1]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_2]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_3]);
+}
+
+void testTwoDecskWithoutMemorySupport() {
+    // Fixture
+    DeckDriver driverNoMem = { .memoryDef = 0 };
+    DeckInfo deckNoMem = { .driver = &driverNoMem };
+
+    deckCount_ExpectAndReturn(2);
+    deckInfo_ExpectAndReturn(0, &deckNoMem);
+    deckInfo_ExpectAndReturn(1, &deckNoMem);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_0]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_1]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_2]);
+    TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_3]);
+}
+
+void testOneDeckReadSupported() {
+    // Fixture
+    stockMemDef.read = mockRead;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_READ, buffer[DECK_0]);
+}
+
+void testOneDeckWriteSupported() {
+    // Fixture
+    stockMemDef.write = mockWrite;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_WRITE, buffer[DECK_0]);
+}
+
+void testOneDeckUpgradeupported() {
+    // Fixture
+    stockMemDef.write = mockWrite;
+    stockMemDef.supportsUpgrade = true;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_WRITE | MASK_SUPPORTS_UPGRADE, buffer[DECK_0]);
+}
+
+void testOneDeckStarted() {
+    // Fixture
+    stockDeckProperties = DECK_MEMORY_MASK_STARTED;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_IS_STARTED, buffer[DECK_0]);
+}
+
+void testOneDeckRequiresUpgrade() {
+    // Fixture
+    stockDeckProperties = DECK_MEMORY_MASK_UPGRADE_REQUIRED;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_UPGRADE_REQUIRED, buffer[DECK_0]);
+}
+
+void testOneDeckInBootloaderMode() {
+    // Fixture
+    stockDeckProperties = DECK_MEMORY_MASK_BOOT_LOADER_ACTIVE;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_BOOTLOADER_ACTIVE, buffer[DECK_0]);
+}
+
+void testOneDeckRequiredHash() {
+    // Fixture
+    stockMemDef.requiredHash = 0x12345678;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(0x78, buffer[DECK_0 + 1]);
+    TEST_ASSERT_EQUAL_UINT8(0x56, buffer[DECK_0 + 2]);
+    TEST_ASSERT_EQUAL_UINT8(0x34, buffer[DECK_0 + 3]);
+    TEST_ASSERT_EQUAL_UINT8(0x12, buffer[DECK_0 + 4]);
+}
+
+void testOneDeckRequiredLength() {
+    // Fixture
+    stockMemDef.requiredSize = 0x12345678;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(0x78, buffer[DECK_0 + 5]);
+    TEST_ASSERT_EQUAL_UINT8(0x56, buffer[DECK_0 + 6]);
+    TEST_ASSERT_EQUAL_UINT8(0x34, buffer[DECK_0 + 7]);
+    TEST_ASSERT_EQUAL_UINT8(0x12, buffer[DECK_0 + 8]);
+}
+
+void testBaseAddressSecondDeck() {
+    // Fixture
+    deckCount_ExpectAndReturn(2);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+    deckInfo_ExpectAndReturn(1, &stockInfo);
+
+    uint32_t expected = DECK_MEM_SIZE * 2;
+
+    // Test
+    handleMemRead(0, BUF_SIZE, buffer);
+
+    // Assert
+    uint32_t actual = 0;
+    memcpy(&actual, &buffer[DECK_1 + 0x0009], 4);
+
+    TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testReadOfFiveFirstBytes() {
+    // Fixture
+    stockMemDef.requiredHash = 0x12345678;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(0, 5, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(1, buffer[0]);      // Version
+    TEST_ASSERT_EQUAL_UINT32(1, buffer[1]);     // valid bit
+    TEST_ASSERT_EQUAL_UINT32(0x78, buffer[2]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x56, buffer[3]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x34, buffer[4]);  // Required hash
+}
+
+void testReadNotFromZero() {
+    // Fixture
+    stockMemDef.requiredHash = 0x12345678;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    handleMemRead(3, 2, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(0x56, buffer[0]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x34, buffer[1]);  // Required hash
+}
+
+void testReadOfFiveFirstBytesFromThirdDeck() {
+    // Fixture
+    stockMemDef.requiredHash = 0x12345678;
+
+    deckCount_ExpectAndReturn(3);
+    deckInfo_ExpectAndReturn(2, &stockInfo);
+
+    // Test
+    handleMemRead(DECK_2, 5, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(1, buffer[0]);     // valid bit
+    TEST_ASSERT_EQUAL_UINT32(0x78, buffer[1]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x56, buffer[2]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x34, buffer[3]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x12, buffer[4]);  // Required hash
+}
+
+void testReadPartOfSecondAndThirdDeck() {
+    // Fixture
+    DeckDriver driverNoMem = { .memoryDef = 0 };
+    DeckInfo deckNoMem = { .driver = &driverNoMem };
+
+    stockMemDef.requiredHash = 0x12345678;
+
+    deckCount_ExpectAndReturn(3);
+    deckInfo_ExpectAndReturn(1, &deckNoMem);
+    deckInfo_ExpectAndReturn(2, &stockInfo);
+
+    // Test
+    handleMemRead(DECK_2 - 1, 5, buffer);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(0, buffer[0]);     // last byte of deck 2
+    TEST_ASSERT_EQUAL_UINT32(1, buffer[1]);     // valid bit
+    TEST_ASSERT_EQUAL_UINT32(0x78, buffer[2]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x56, buffer[3]);  // Required hash
+    TEST_ASSERT_EQUAL_UINT32(0x34, buffer[4]);  // Required hash
+}
+
+void testReadFromDeck() {
+    // Fixture
+    stockMemDef.read = mockRead;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_TRUE(read_isCalled);
+    TEST_ASSERT_EQUAL_UINT32(100, read_vAddr);
+    TEST_ASSERT_EQUAL_UINT8(30, read_len);
+    TEST_ASSERT_TRUE(actual)
+}
+
+void testReadFromDeckWithoutReadFunction() {
+    // Fixture
+    stockMemDef.read = 0;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_FALSE(read_isCalled);
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testReadFromNonExistingDeck() {
+    // Fixture
+    deckCount_ExpectAndReturn(0);
+
+    // Test
+    bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_FALSE(read_isCalled);
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testWriteToDeck() {
+    // Fixture
+    stockMemDef.write = mockWrite;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_TRUE(write_isCalled);
+    TEST_ASSERT_EQUAL_UINT32(100, write_vAddr);
+    TEST_ASSERT_EQUAL_UINT8(30, write_len);
+    TEST_ASSERT_TRUE(actual)
+}
+
+void testWriteToDeckWithoutWriteFunction() {
+    // Fixture
+    stockMemDef.write = 0;
+
+    deckCount_ExpectAndReturn(1);
+    deckInfo_ExpectAndReturn(0, &stockInfo);
+
+    // Test
+    bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_FALSE(write_isCalled);
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testWriteToNonExistingDeck() {
+    // Fixture
+    deckCount_ExpectAndReturn(0);
+
+    // Test
+    bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+    // Assert
+    TEST_ASSERT_FALSE(write_isCalled);
+    TEST_ASSERT_FALSE(actual);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/drivers/src/test_lps_twr_tag.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/drivers/src/test_lps_twr_tag.c
new file mode 100644
index 0000000000000000000000000000000000000000..721e457bb044a9ebaef5ac0178d7fe140c12e92a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/deck/drivers/src/test_lps_twr_tag.c
@@ -0,0 +1,412 @@
+// File under test lpsTwrTag.h
+#include "lpsTwrTag.h"
+
+#include <string.h>
+#include "unity.h"
+#include "mock_libdw1000.h"
+#include "mock_cfassert.h"
+#include "mock_locodeck.h"
+#include "mock_configblock.h"
+
+#include "crtp_localization_serviceMocks.h"
+#include "dw1000Mocks.h"
+#include "physicalConstants.h"
+
+// #include "mock_arm_math.h"
+
+// The mocking FW can not handle the cf_math.h/arm_math.h file, it crashes while parsing it. We have to use manual mocks instead.
+// Temporarily fix to make tests pass, add test code for the estimator part of rxcallback()
+#include "cf_math.h"
+void arm_std_f32(const float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
+void arm_mean_f32(const float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
+
+#include "mock_estimator.h"
+
+#include "freertosMocks.h"
+
+static dwDevice_t dev;
+static lpsTwrAlgoOptions_t options;
+
+static void setTime(uint8_t* data, const dwTime_t* time);
+static void populatePacket(packet_t* packet, uint8_t seqNr, uint8_t type, locoAddress_t sourceAddress, locoAddress_t destinationAddress);
+static void populateLppPacket(packet_t* packet, char *data, int length, locoAddress_t sourceAddress, locoAddress_t destinationAddress);
+
+static void mockEventTimeoutHandling(const packet_t* expectedTxPacket);
+static void mockEventPacketSendHandling(dwTime_t* departureTime);
+static void mockEventPacketReceivedAnswerHandling(int dataLength, const packet_t* rxPacket, const dwTime_t* answerArrivalTagTime, const packet_t* expectedTxPacket);
+static void mockEventPacketReceivedReportHandling(int dataLength, const packet_t* rxPacket);
+static void mockSendLppShortHandling(const packet_t* expectedTxPacket, int datalength);
+
+static bool lpsGetLppShortCallbackForLppShortPacketSent(lpsLppShortPacket_t* shortPacket, int cmock_num_calls);
+
+static lpsTwrAlgoOptions_t defaultOptions = {
+  .tagAddress = 0xbccf000000000008,
+  .anchorAddress = {
+    0xbccf000000000001,
+    0xbccf000000000002,
+    0xbccf000000000003,
+    0xbccf000000000004,
+    0xbccf000000000005,
+    0xbccf000000000006
+  },
+  .antennaDelay = 30000,
+  .rangingFailedThreshold = 6,
+  .combinedAnchorPositionOk = false
+};
+
+static char * lppShortPacketData = "hello";
+static int lppShortPacketLength = 5;
+static int lppShortPacketDest = 3;
+
+void setUp(void) {
+  dwGetData_resetMock();
+  dwGetTransmitTimestamp_resetMock();
+  dwGetReceiveTimestamp_resetMock();
+
+  dwSetReceiveWaitTimeout_Expect(&dev, TWR_RECEIVE_TIMEOUT);
+  dwCommitConfiguration_Expect(&dev);
+
+  memcpy(&options, &defaultOptions, sizeof(options));
+  uwbTwrTagSetOptions(&options);
+
+  locoDeckSetRangingState_Expect(0);
+
+  uwbTwrTagAlgorithm.init(&dev);
+
+  locoDeckGetRangingState_IgnoreAndReturn(0);
+  locoDeckSetRangingState_Ignore();
+}
+
+void testNormalMessageSequenceShouldGenerateDistance() {
+  // Fixture
+  const int dataLength = sizeof(packet_t);
+  const uint8_t expectedSeqNr = 1;
+  const uint8_t expectedAnchor = 1;
+
+  float expectedDistance = 5.0;
+  const uint32_t distInTicks = expectedDistance * LOCODECK_TS_FREQ / SPEED_OF_LIGHT;
+
+  dwTime_t pollDepartureTagTime = {.full = 123456};
+  dwTime_t pollArrivalAnchorTime = {.full = pollDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+  dwTime_t answerDepartureAnchorTime = {.full = pollArrivalAnchorTime.full + 100000};
+  dwTime_t answerArrivalTagTime = {.full = answerDepartureAnchorTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+  dwTime_t finalDepartureTagTime = {.full = answerArrivalTagTime.full + 200000};
+  dwTime_t finalArrivalAnchorTime = {.full = finalDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+
+  // eventTimeout
+  packet_t expectedTxPacket1;
+  populatePacket(&expectedTxPacket1, expectedSeqNr, LPS_TWR_POLL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+  mockEventTimeoutHandling(&expectedTxPacket1);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
+  // eventPacketSent (POLL)
+  mockEventPacketSendHandling(&pollDepartureTagTime);
+
+  // eventPacketReceived (ANSWER)
+  packet_t rxPacket1;
+  populatePacket(&rxPacket1, expectedSeqNr, LPS_TWR_ANSWER, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+  packet_t expectedTxPacket2;
+  populatePacket(&expectedTxPacket2, expectedSeqNr, LPS_TWR_FINAL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+  mockEventPacketReceivedAnswerHandling(dataLength, &rxPacket1, &answerArrivalTagTime, &expectedTxPacket2);
+
+  // eventPacketSent (FINAL)
+  mockEventPacketSendHandling(&finalDepartureTagTime);
+
+  // eventPacketReceived (REPORT)
+  packet_t rxPacket2;
+  populatePacket(&rxPacket2, expectedSeqNr, LPS_TWR_REPORT, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+  lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket2.payload + 2);
+  setTime(report->pollRx, &pollArrivalAnchorTime);
+  setTime(report->answerTx, &answerDepartureAnchorTime);
+  setTime(report->finalRx, &finalArrivalAnchorTime);
+  mockEventPacketReceivedReportHandling(dataLength, &rxPacket2);
+
+  // Test
+  uint32_t actual1 = uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+  uint32_t actual2 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+  uint32_t actual3 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+  uint32_t actual4 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+  uint32_t actual5 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual1);
+  TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual2);
+  TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual3);
+  TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual4);
+  TEST_ASSERT_EQUAL_UINT32(0, actual5);
+
+  float actualDistance = lpsTwrTagGetDistance(expectedAnchor);
+  TEST_ASSERT_FLOAT_WITHIN(0.01, expectedDistance, actualDistance);
+}
+
+void testEventReceiveUnhandledEventShouldAssertFailure() {
+  // Fixture
+  assertFail_Expect("", "", 0);
+  assertFail_IgnoreArg_exp();
+  assertFail_IgnoreArg_file();
+  assertFail_IgnoreArg_line();
+
+  uwbEvent_t unknownEvent = 100;
+
+  // Test
+  uwbTwrTagAlgorithm.onEvent(&dev, unknownEvent);
+
+  // Assert
+  // Mock automatically validated after test
+}
+
+void testEventReceiveFailedShouldBeIgnored() {
+  // Fixture
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventReceiveFailed);
+
+  // Assert
+  const uint32_t expected = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventReceiveTimeoutShouldBeIgnored() {
+  // Fixture
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventReceiveTimeout);
+
+  // Assert
+  const uint32_t expected = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithZeroDataLengthShouldBeIgnored() {
+  // Fixture
+  dwGetDataLength_ExpectAndReturn(&dev, 0);
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  const uint32_t expected = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithWrongDestinationAddressShouldPrepareForReceptionOfNewPacket() {
+  // Fixture
+  packet_t rxPacket = {.destAddress = 0x4711471147114711};
+  const int dataLength = sizeof(rxPacket);
+
+  dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+  dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+  dwNewReceive_Expect(&dev);
+  dwSetDefaults_Expect(&dev);
+  dwStartReceive_Expect(&dev);
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  const uint32_t expected = MAX_TIMEOUT;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithTypeAnswerAndWrongSeqNrShouldReturn0() {
+  // Fixture
+  packet_t rxPacket;
+  rxPacket.destAddress = defaultOptions.tagAddress;
+  rxPacket.payload[LPS_TWR_TYPE] = LPS_TWR_ANSWER;
+
+  uint8_t wrongSeqNr = 17; // After init curr_seq = 0
+  rxPacket.payload[LPS_TWR_SEQ] = wrongSeqNr;
+
+  const int dataLength = sizeof(rxPacket);
+  dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+  dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  const uint32_t expected = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithTypeReportAndWrongSeqNrShouldReturn0() {
+  // Fixture
+  packet_t rxPacket;
+  rxPacket.destAddress = defaultOptions.tagAddress;
+  rxPacket.payload[LPS_TWR_TYPE] = LPS_TWR_REPORT;
+
+  uint8_t wrongSeqNr = 17; // After init curr_seq = 0
+  rxPacket.payload[LPS_TWR_SEQ] = wrongSeqNr;
+
+  const int dataLength = sizeof(rxPacket);
+  dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+  dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+  // Test
+  uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  const uint32_t expected = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatLppShortPacketIsSentWhenAvailable() {
+  // Fixture
+  lpsGetLppShort_StubWithCallback(lpsGetLppShortCallbackForLppShortPacketSent);
+
+  packet_t expectedTxPacket;
+  populateLppPacket(&expectedTxPacket, lppShortPacketData, lppShortPacketLength, defaultOptions.tagAddress, defaultOptions.anchorAddress[lppShortPacketDest]);
+
+  mockSendLppShortHandling(&expectedTxPacket, lppShortPacketLength);
+
+  dwTime_t txTime = {.full = 0};
+  mockEventPacketSendHandling(&txTime);
+
+  // Test
+  uint32_t actual1 = uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+  uint32_t actual2 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+
+  // Assert
+  const uint32_t expected1 = MAX_TIMEOUT;
+  const uint32_t expected2 = 0;
+  TEST_ASSERT_EQUAL_UINT32(expected1, actual1);
+  TEST_ASSERT_EQUAL_UINT32(expected2, actual2);
+}
+
+void testThatInitiallyNoRangingAreReportedToBeOk() {
+  // Test
+  // Nothing there, there has been no rangings
+
+  // Assert
+  TEST_ASSERT_FALSE(uwbTwrTagAlgorithm.isRangingOk());
+}
+
+void testThatWhenARangingHasHappenRangingIsReportedToBeOk() {
+  // Fixture, setup a simple ranging
+  const int dataLength = sizeof(packet_t);
+  const uint8_t expectedSeqNr = 1;
+  const uint8_t expectedAnchor = 1;
+
+  float expectedDistance = 5.0;
+  const uint32_t distInTicks = expectedDistance * LOCODECK_TS_FREQ / SPEED_OF_LIGHT;
+
+  dwTime_t pollDepartureTagTime = {.full = 123456};
+  dwTime_t pollArrivalAnchorTime = {.full = pollDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+  dwTime_t answerDepartureAnchorTime = {.full = pollArrivalAnchorTime.full + 100000};
+  dwTime_t answerArrivalTagTime = {.full = answerDepartureAnchorTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+  dwTime_t finalDepartureTagTime = {.full = answerArrivalTagTime.full + 200000};
+  dwTime_t finalArrivalAnchorTime = {.full = finalDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+
+  // eventTimeout
+  packet_t expectedTxPacket1;
+  populatePacket(&expectedTxPacket1, expectedSeqNr, LPS_TWR_POLL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+  mockEventTimeoutHandling(&expectedTxPacket1);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
+  // eventPacketSent (POLL)
+  mockEventPacketSendHandling(&pollDepartureTagTime);
+
+  // eventPacketReceived (ANSWER)
+  packet_t rxPacket1;
+  populatePacket(&rxPacket1, expectedSeqNr, LPS_TWR_ANSWER, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+  packet_t expectedTxPacket2;
+  populatePacket(&expectedTxPacket2, expectedSeqNr, LPS_TWR_FINAL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+  mockEventPacketReceivedAnswerHandling(dataLength, &rxPacket1, &answerArrivalTagTime, &expectedTxPacket2);
+
+  // eventPacketSent (FINAL)
+  mockEventPacketSendHandling(&finalDepartureTagTime);
+
+  // eventPacketReceived (REPORT)
+  packet_t rxPacket2;
+  populatePacket(&rxPacket2, expectedSeqNr, LPS_TWR_REPORT, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+  lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket2.payload + 2);
+  setTime(report->pollRx, &pollArrivalAnchorTime);
+  setTime(report->answerTx, &answerDepartureAnchorTime);
+  setTime(report->finalRx, &finalArrivalAnchorTime);
+  mockEventPacketReceivedReportHandling(dataLength, &rxPacket2);
+
+  // Test
+  uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+  uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+  uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+  uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+  uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+  // Assert
+  TEST_ASSERT_TRUE(uwbTwrTagAlgorithm.isRangingOk());
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+
+static void setTime(uint8_t* data, const dwTime_t* time) {
+  memcpy(data, time, sizeof(dwTime_t));
+}
+
+static void populatePacket(packet_t* packet, uint8_t seqNr, uint8_t type, locoAddress_t sourceAddress, locoAddress_t destinationAddress) {
+  memset(packet, 0, sizeof(packet_t));
+
+  MAC80215_PACKET_INIT((*packet), MAC802154_TYPE_DATA);
+  packet->pan = 0xbccf;
+  packet->payload[LPS_TWR_SEQ] = seqNr;
+  packet->payload[LPS_TWR_TYPE] = type;
+  packet->sourceAddress = sourceAddress;
+  packet->destAddress = destinationAddress;
+}
+
+static void populateLppPacket(packet_t* packet, char *data, int length, locoAddress_t sourceAddress, locoAddress_t destinationAddress) {
+  memset(packet, 0, sizeof(packet_t));
+
+  MAC80215_PACKET_INIT((*packet), MAC802154_TYPE_DATA);
+  packet->pan = 0xbccf;
+  memcpy(&packet->payload[LPS_TWR_SEND_LPP_PAYLOAD], data, length);
+  packet->payload[LPS_TWR_TYPE] = LPS_TWR_LPP_SHORT;
+  packet->sourceAddress = sourceAddress;
+  packet->destAddress = destinationAddress;
+}
+
+static void mockEventTimeoutHandling(const packet_t* expectedTxPacket) {
+  dwIdle_Expect(&dev);
+  dwNewTransmit_Expect(&dev);
+  dwSetDefaults_Expect(&dev);
+  dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 2);
+  dwWaitForResponse_Expect(&dev, true);
+  dwStartTransmit_Expect(&dev);
+}
+
+static void mockSendLppShortHandling(const packet_t* expectedTxPacket, int length) {
+  dwIdle_Expect(&dev);
+  dwNewTransmit_Expect(&dev);
+  dwSetDefaults_Expect(&dev);
+  dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 1 + length);
+  dwWaitForResponse_Expect(&dev, false);
+  dwStartTransmit_Expect(&dev);
+}
+
+static void mockEventPacketSendHandling(dwTime_t* departureTime) {
+  dwGetTransmitTimestamp_ExpectAndCopyData(&dev, departureTime);
+}
+
+static void mockEventPacketReceivedAnswerHandling(int dataLength, const packet_t* rxPacket, const dwTime_t* answerArrivalTagTime, const packet_t* expectedTxPacket) {
+  dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+  dwGetData_ExpectAndCopyData(&dev, rxPacket, dataLength);
+  dwGetReceiveTimestamp_ExpectAndCopyData(&dev, answerArrivalTagTime);
+  dwNewTransmit_Expect(&dev);
+  dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 2);
+  dwWaitForResponse_Expect(&dev, true);
+  dwStartTransmit_Expect(&dev);
+}
+
+static void mockEventPacketReceivedReportHandling(int dataLength, const packet_t* rxPacket) {
+  dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+  dwGetData_ExpectAndCopyData(&dev, rxPacket, dataLength);
+}
+
+static bool lpsGetLppShortCallbackForLppShortPacketSent(lpsLppShortPacket_t* shortPacket, int cmock_num_calls) {
+  memcpy(shortPacket->data, lppShortPacketData, lppShortPacketLength);
+  shortPacket->dest = lppShortPacketDest;
+  shortPacket->length = lppShortPacketLength;
+
+  return true;
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c
new file mode 100644
index 0000000000000000000000000000000000000000..53021c2485bad7ade1e4f35f53afee9fb06135e5
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c
@@ -0,0 +1,60 @@
+#include "unity.h"
+#include "mock_kalman_core.h"
+
+// Helpers to simplify testing of measurment model implementations in the kalman core
+
+// Use to set up expectations for one call to kalmanCoreScalarUpdate(). This helper does not support multiple calls.
+
+// Storage for expected values
+const kalmanCoreData_t* kcsus_expectedThis;
+float kcsus_expectedHm[KC_STATE_DIM];
+float kcsus_expectedError;
+float kcsus_expectedStdMeasNoise;
+float kcsus_scalarUpadateWasCalled;
+
+void mock_kalmanCoreScalarUpdate_callback(kalmanCoreData_t* actualThis, arm_matrix_instance_f32* actualHm, float actualError, float actualStdMeasNoise, int cmock_num_calls);
+
+// Inti the mock with default (unlikely) values
+void initKalmanCoreScalarUpdateExpectationsSingleCall() {
+  kcsus_expectedThis = (void*)0;
+  memset(kcsus_expectedHm, 0, sizeof(kcsus_expectedHm));
+  kcsus_expectedError = 1234567890.0f;
+  kcsus_expectedStdMeasNoise = 987654321.0f;
+  kcsus_scalarUpadateWasCalled = false;
+}
+
+// Call this fkn to set expected values for the mock
+// Note: expectedHm is a pure c float vector, not arm_matrix_instance_f32 to make life somple.
+void setKalmanCoreScalarUpdateExpectationsSingleCall(const kalmanCoreData_t* expectedThis, const float* expectedHm, const float expectedError, const float expectedStdMeasNoise) {
+  kcsus_expectedThis = expectedThis;
+  memcpy(kcsus_expectedHm, expectedHm, sizeof(kcsus_expectedHm));
+  kcsus_expectedError = expectedError;
+  kcsus_expectedStdMeasNoise = expectedStdMeasNoise;
+
+  kalmanCoreScalarUpdate_StubWithCallback(mock_kalmanCoreScalarUpdate_callback);
+}
+
+// Callback doing the validation work
+void mock_kalmanCoreScalarUpdate_callback(kalmanCoreData_t* actualThis, arm_matrix_instance_f32* actualHm, float actualError, float actualStdMeasNoise, int cmock_num_calls) {
+  kcsus_scalarUpadateWasCalled = true;
+  TEST_ASSERT_EQUAL_INT_MESSAGE(0, cmock_num_calls, "Only expect one call");
+  TEST_ASSERT_EQUAL_PTR_MESSAGE(kcsus_expectedThis, actualThis, "Unexpected this pointer");
+
+  // Verify size and contents of Hm vector
+  TEST_ASSERT_EQUAL_UINT16_MESSAGE(1, actualHm->numRows, "Uexpected nr of rows in Hm Vector");
+  TEST_ASSERT_EQUAL_UINT16_MESSAGE(KC_STATE_DIM, actualHm->numCols, "Unexpected nr of collumns in Hm vector");
+  for (int i = 0; i < KC_STATE_DIM; i++) {
+    TEST_ASSERT_FLOAT_WITHIN_MESSAGE(1e-20, kcsus_expectedHm[i], actualHm->pData[i], "Unexpected value of element in Hm vector");
+  }
+
+  TEST_ASSERT_EQUAL_FLOAT_MESSAGE(kcsus_expectedError, actualError, "Unexpected value of error");
+  TEST_ASSERT_EQUAL_FLOAT_MESSAGE(kcsus_expectedStdMeasNoise, actualStdMeasNoise, "Unexpected value of stdMeasNoise");
+}
+
+void assertScalarUpdateWasCalled() {
+  TEST_ASSERT_TRUE_MESSAGE(kcsus_scalarUpadateWasCalled, "kalmanCoreScalarUpdate() was never called");
+}
+
+void assertScalarUpdateWasNotCalled() {
+  TEST_ASSERT_FALSE_MESSAGE(kcsus_scalarUpadateWasCalled, "kalmanCoreScalarUpdate() got an unexpected call");
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_absolute_height.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_absolute_height.c
new file mode 100644
index 0000000000000000000000000000000000000000..b2f9efb9cf3505d1a32477c77e4c49aaa5f2a5ad
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_absolute_height.c
@@ -0,0 +1,47 @@
+// File under test mm_absolute_height.c
+#include "mm_absolute_height.h"
+
+#include "unity.h"
+
+#include "mock_kalman_core.h"
+#include "kalman_core_mm_test_helpers.c"
+
+static kalmanCoreData_t this;
+static float h[KC_STATE_DIM];
+
+
+void setUp(void) {
+  memset(&this, 0, sizeof(this));
+  memset(&h, 0, sizeof(h));
+
+  initKalmanCoreScalarUpdateExpectationsSingleCall();
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThatCorrectValuesAreUsedInScalatUpdate() {
+  // Fixture
+  float currentZ = 47.11f;
+  float measuredHeight = 12.34;
+  float expectedError = measuredHeight - currentZ;
+  float expectedStdMeasNoise = 0.123f;
+
+  this.S[KC_STATE_Z] = currentZ;
+  h[KC_STATE_Z] = 1.0f;
+
+  heightMeasurement_t measurement = {
+    .height = measuredHeight,
+    .stdDev = expectedStdMeasNoise,
+  };
+
+  setKalmanCoreScalarUpdateExpectationsSingleCall(&this, h, expectedError, expectedStdMeasNoise);
+
+  // Test
+  kalmanCoreUpdateWithAbsoluteHeight(&this, &measurement);
+
+  // Assert
+  // Checked in mock
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_tdoa.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_tdoa.c
new file mode 100644
index 0000000000000000000000000000000000000000..e10075a7bca2c6f0a5d2d7b7c7e528ba2daa7c3a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/kalman_core/test_mm_tdoa.c
@@ -0,0 +1,109 @@
+// File under test mm_tdoa.c
+#include "mm_tdoa.h"
+
+#include "unity.h"
+
+#include "mock_kalman_core.h"
+#include "mock_outlierFilter.h"
+#include "kalman_core_mm_test_helpers.c"
+
+// Default data initialized in setup()
+static kalmanCoreData_t this;
+static float expectedHm[KC_STATE_DIM];
+
+// Instrumented in code under test
+extern uint32_t tdoaCount;
+
+void setUp(void) {
+  memset(&this, 0, sizeof(this));
+  memset(&expectedHm, 0, sizeof(expectedHm));
+
+  // Make sure we pass the tdoaCount counter
+  tdoaCount = 100;
+
+  initKalmanCoreScalarUpdateExpectationsSingleCall();
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testThatScalarUpdateIsCalledInSimpleCase() {
+  // Fixture
+  float expectedError = 0;
+  float expectedStdMeasNoise = 0.123;
+
+  this.S[KC_STATE_X] = 0.0;
+  this.S[KC_STATE_Y] = 0.0;
+  this.S[KC_STATE_Z] = 0.0;
+
+  expectedHm[KC_STATE_X] = -2.0;
+  expectedHm[KC_STATE_Y] = 0.0;
+  expectedHm[KC_STATE_Z] = 0.0;
+
+  tdoaMeasurement_t measurement = {
+    .anchorPositions = {
+      {.x = -1.0, .y = 0.0, .z = 0.0},
+      {.x = 1.0, .y = 0.0, .z = 0.0},
+    },
+    .distanceDiff = 0.0,
+    .stdDev = expectedStdMeasNoise,
+  };
+
+  setKalmanCoreScalarUpdateExpectationsSingleCall(&this, expectedHm, expectedError, expectedStdMeasNoise);
+  outlierFilterValidateTdoaSteps_IgnoreAndReturn(true);
+
+  // Test
+  kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+  // Assert
+  assertScalarUpdateWasCalled();
+}
+
+
+void testThatSampleWhereDroneIsInSamePositionAsAnchorIsIgnored() {
+  // Fixture
+  this.S[KC_STATE_X] = -1.0;
+  this.S[KC_STATE_Y] = 0.0;
+  this.S[KC_STATE_Z] = 0.0;
+
+  tdoaMeasurement_t measurement = {
+    .anchorPositions = {
+      {.x = -1.0, .y = 0.0, .z = 0.0},
+      {.x = 1.0, .y = 0.0, .z = 0.0},
+    },
+    .distanceDiff = 2.0,
+    .stdDev = 0.123,
+  };
+
+  // Test
+  kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+  // Assert
+  assertScalarUpdateWasNotCalled();
+}
+
+
+void testThatScalarUpdateIsNotCalledWhenTheOutlierFilterIsBlocking() {
+  // Fixture
+  this.S[KC_STATE_X] = 0.0;
+  this.S[KC_STATE_Y] = 0.0;
+  this.S[KC_STATE_Z] = 0.0;
+
+  tdoaMeasurement_t measurement = {
+    .anchorPositions = {
+      {.x = -1.0, .y = 0.0, .z = 0.0},
+      {.x = 1.0, .y = 0.0, .z = 0.0},
+    },
+    .distanceDiff = 2.0,
+    .stdDev = 0.123,
+  };
+
+  outlierFilterValidateTdoaSteps_IgnoreAndReturn(false);
+
+  // Test
+  kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+  // Assert
+  assertScalarUpdateWasNotCalled();
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_core.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_core.c
new file mode 100644
index 0000000000000000000000000000000000000000..8dbb4e2f7195c7404f16cdea046c333037644bb0
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_core.c
@@ -0,0 +1,266 @@
+// File under test lighthouse_core.c
+#include "lighthouse_core.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_pulse_processor.h"
+#include "mock_pulse_processor_v1.h"
+#include "mock_pulse_processor_v2.h"
+#include "mock_lighthouse_deck_flasher.h"
+#include "mock_lighthouse_position_est.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_uart1.h"
+#include "mock_statsCnt.h"
+#include "mock_cfassert.h"
+#include "mock_crtp_localization_service.h"
+#include "mock_lighthouse_storage.h"
+
+#include <stdbool.h>
+
+static void uart1SetSequence(char* sequence, int length);
+static emptySequence[] = {0};
+static int uart1BytesRead = 0;
+static char* uart1Sequence;
+static int uart1SequenceLength;
+static lighthouseUartFrame_t frame;
+
+extern pulseProcessor_t lighthouseCoreState;
+
+// Functions under test
+void waitForUartSynchFrame();
+bool getUartFrameRaw(lighthouseUartFrame_t *frame);
+lighthouseBaseStationType_t identifyBaseStationType(const lighthouseUartFrame_t* frame, lighthouseBsIdentificationData_t* state);
+
+// Dummy mocks timer
+uint32_t xTaskGetTickCount() {return 0;}
+void vTaskDelay(const uint32_t ignore) {}
+
+static int nrOfCallsToStorageFetchForCalib = 0;
+static size_t mockStorageFetchForCalib(char* key, void* buffer, size_t length, int cmock_num_calls);
+
+void setUp(void) {
+    nrOfCallsToStorageFetchForCalib = 0;
+    uart1SetSequence(emptySequence, 0);
+
+    memset(&frame, 0, sizeof(frame));
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThatUartFrameIsDetected() {
+  // Fixture
+  unsigned char sequence[] = {0, 1, 2, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0, 1, 2};
+  int expected = 15;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  waitForUartSynchFrame();
+
+  // Assert
+  int actual = uart1BytesRead;
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatUartSyncFramesAreSkipped() {
+  // Fixture
+  unsigned char sequence[] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+                              0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int expectedRead = 24;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  do {
+    bool actual = getUartFrameRaw(&frame);
+    TEST_ASSERT_TRUE(actual);
+  } while(frame.isSyncFrame);
+
+  // Assert
+  int actualRead = uart1BytesRead;
+  TEST_ASSERT_EQUAL(expectedRead, actualRead);
+}
+
+
+void testThatCorruptUartFramesAreDetectedWithOnesInFirstPadding() {
+  // Fixture
+  unsigned char sequence[] = {0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0};
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  bool actual = getUartFrameRaw(&frame);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+
+void testThatCorruptUartFramesAreDetectedWithOnesInSecondPadding() {
+  // Fixture
+  unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 0, 0, 128, 0, 0, 0};
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  bool actual = getUartFrameRaw(&frame);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+
+void testThatTimeStampIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 2, 1};
+  uint32_t expected = 0x010203;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  uint32_t actual = frame.data.timestamp;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+
+void testThatWidthIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0, 1, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  uint32_t expected = 0x0201;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  uint32_t actual = frame.data.width;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+
+void testThatOffsetIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0, 0, 0, 3, 2, 1, 0, 0, 0, 0, 0, 0};
+
+  // The offset is converted from a 6 MHz to 24 MHz clock when read
+  uint32_t expected = 0x10203 * 4;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  bool frameOk = getUartFrameRaw(&frame);
+
+  // Assert
+  uint32_t actual = frame.data.offset;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+  // Verify the padding data was not affected
+  TEST_ASSERT_TRUE(frameOk)
+}
+
+
+void testThatBeamDataIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 3, 2, 1, 0, 0, 0};
+  uint32_t expected = 0x10203;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  bool frameOk = getUartFrameRaw(&frame);
+
+  // Assert
+  uint32_t actual = frame.data.beamData;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+  // Verify the padding data was not affected
+  TEST_ASSERT_TRUE(frameOk)
+}
+
+void testThatSensorIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  uint8_t expected = 0x3;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  uint32_t actual = frame.data.sensor;
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+  // Verify we did not get data in other fields
+  TEST_ASSERT_TRUE(frame.data.channelFound);
+}
+
+void testThatLackOfChannelIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  TEST_ASSERT_FALSE(frame.data.channelFound);
+
+  // Verify we did not get data in other fields
+  TEST_ASSERT_EQUAL_UINT8(0, frame.data.channel);
+  TEST_ASSERT_FALSE(frame.data.slowbit);
+}
+
+
+void testThatChannelIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0x78, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  uint8_t expected = 0x0f;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT8(expected, frame.data.channel);
+
+  // Verify we did not get data in other fields
+  TEST_ASSERT_TRUE(frame.data.channelFound);
+  TEST_ASSERT_FALSE(frame.data.slowbit);
+}
+
+
+void testThatSlowBitIsDecodedInUartFrame() {
+  // Fixture
+  unsigned char sequence[] = {0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  uint8_t expected = 0x0f;
+  uart1SetSequence(sequence, sizeof(sequence));
+
+  // Test
+  getUartFrameRaw(&frame);
+
+  // Assert
+  TEST_ASSERT_TRUE(frame.data.slowbit);
+
+  // Verify we did not get data in other fields
+  TEST_ASSERT_TRUE(frame.data.channelFound);
+  TEST_ASSERT_EQUAL_UINT8(0, frame.data.channel);
+}
+
+// Test support ----------------------------------------------------------------------------------------------------
+
+static void uart1ReadCallback(char* ch, int cmock_num_calls) {
+    if (uart1BytesRead >= uart1SequenceLength) {
+        TEST_FAIL_MESSAGE("Too many bytes read from uart1");
+    }
+
+    *ch = uart1Sequence[uart1BytesRead];
+    uart1BytesRead++;
+}
+
+static void uart1SetSequence(char* sequence, int length) {
+    uart1BytesRead = 0;
+    uart1Sequence = sequence;
+    uart1SequenceLength = length;
+
+    uart1Getchar_StubWithCallback(uart1ReadCallback);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c
new file mode 100644
index 0000000000000000000000000000000000000000..6185f14e6760a76512ff04c26f30f21aa5f2b9a2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c
@@ -0,0 +1,48 @@
+// File under test lighthouse_core.c
+#include "lighthouse_deck_flasher.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_lh_bootloader.h"
+#include "mock_crc32.h"
+
+#include "freertosMocks.h"
+
+#include <stdbool.h>
+
+void setUp(void) {
+  // Empty
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThaEraseFwIsCalledWhenWritingTheFirstBlock() {
+  // Fixture
+  lhblFlashEraseFirmware_ExpectAndReturn(true);
+  uint8_t buffer[] = {1, 2, 3, 4};
+  lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 0, 4, buffer, 4, true);
+
+  // Test
+  bool actual = lighthouseDeckFlasherWrite(0, 4, buffer);
+
+  // Actual
+  TEST_ASSERT_TRUE(actual);
+}
+
+
+void testThaEraseFwSplitsWriteBetweenTwoPages() {
+  // Fixture
+  uint8_t buffer[] = {1, 2, 3, 4};
+  lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 254, 2, buffer, 2, true);
+  lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 256, 2, &buffer[2], 2, true);
+
+
+  // Test
+  bool actual = lighthouseDeckFlasherWrite(254, 4, buffer);
+
+  // Actual
+  TEST_ASSERT_TRUE(actual);
+}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_storage.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..596d87875d49b1d457107b8b1dc6cb892ba14cb9
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/lighthouse/test_lighthouse_storage.c
@@ -0,0 +1,137 @@
+// File under test lighthouse_core.c
+#include "lighthouse_storage.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_storage.h"
+#include "mock_cfassert.h"
+#include "mock_lighthouse_position_est.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_lighthouse_core.h"
+#include "mock_pulse_processor.h"
+#include "mock_worker.h"
+
+#include <stdbool.h>
+
+// Functions under test
+void lighthouseStorageInitializeGeoDataFromStorage();
+void lighthouseStorageInitializeCalibDataFromStorage();
+
+pulseProcessor_t lighthouseCoreState;
+
+void setUp(void) {
+  // Empty
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThatGeoDataIsWrittenToStorage() {
+  // Fixture
+  storageStore_ExpectAndReturn("lh/sys/0/geo/1", &lighthouseCoreState.bsGeometry[1], sizeof(baseStationGeometry_t), true);
+
+  // Test
+  bool actual = lighthouseStoragePersistData(1, true, false);
+
+  // Actual
+  TEST_ASSERT_TRUE(actual);
+}
+
+void testThatFailedGeoDataWriteToStorageReturnsFailure() {
+  // Fixture
+  storageStore_IgnoreAndReturn(false);
+
+  // Test
+  bool actual = lighthouseStoragePersistData(1, true, false);
+
+  // Actual
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCalibDataIsWrittenToStorage() {
+  // Fixture
+  storageStore_ExpectAndReturn("lh/sys/0/cal/1", &lighthouseCoreState.bsCalibration[1], sizeof(lighthouseCalibration_t), true);
+
+  // Test
+  bool actual = lighthouseStoragePersistData(1, false, true);
+
+  // Actual
+  TEST_ASSERT_TRUE(actual);
+}
+
+void testThatFailedCalibDataWriteToStorageReturnsFailure() {
+  // Fixture
+  storageStore_IgnoreAndReturn(false);
+
+  // Test
+  bool actual = lighthouseStoragePersistData(1, false, true);
+
+  // Actual
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatNoInitializationOfGeoIsDoneWhenStorageIsEmpty() {
+  // Fixture
+  storageFetch_IgnoreAndReturn(0);
+
+  // Test
+  lighthouseStorageInitializeGeoDataFromStorage();
+
+  // Actual
+  // Verified in mocks
+}
+
+void testInitializationOfGeoIsDoneFromStorage() {
+  // Fixture
+  int geoSize = sizeof(baseStationGeometry_t);
+  const void* ignored = 0;
+
+  for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+    storageFetch_ExpectAndReturn("Ignored", ignored, geoSize, geoSize);
+    storageFetch_IgnoreArg_key();
+    storageFetch_IgnoreArg_buffer();
+
+    lighthousePositionSetGeometryData_Expect(i, ignored);
+    lighthousePositionSetGeometryData_IgnoreArg_geometry();
+  }
+
+  // Test
+  lighthouseStorageInitializeGeoDataFromStorage();
+
+  // Actual
+  // Verified in mocks
+}
+
+void testThatNoInitializationOfCalibIsDoneWhenStorageIsEmpty() {
+  // Fixture
+  storageFetch_IgnoreAndReturn(0);
+
+  // Test
+  lighthouseStorageInitializeCalibDataFromStorage();
+
+  // Actual
+  // Verified in mocks
+}
+
+void testInitializationOfCalibIsDoneFromStorage() {
+  // Fixture
+  int calibSize = sizeof(lighthouseCalibration_t);
+  const void* ignored = 0;
+
+  for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+    storageFetch_ExpectAndReturn("Ignored", ignored, calibSize, calibSize);
+    storageFetch_IgnoreArg_key();
+    storageFetch_IgnoreArg_buffer();
+
+    lighthouseCoreSetCalibrationData_Expect(i, ignored);
+    lighthouseCoreSetCalibrationData_IgnoreArg_calibration();
+  }
+
+  // Test
+  lighthouseStorageInitializeCalibDataFromStorage();
+
+  // Actual
+  // Verified in mocks
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_kalman_supervisor.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_kalman_supervisor.c
new file mode 100644
index 0000000000000000000000000000000000000000..addb1a443d4021279b025bb46d938a7146112808
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_kalman_supervisor.c
@@ -0,0 +1,74 @@
+// File under test kalman_supervisor.c
+#include "kalman_supervisor.h"
+
+#include "unity.h"
+
+kalmanCoreData_t coreData;
+
+void setUp(void) {
+  memset(&coreData, 0, sizeof(coreData));
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThatStationaryInOriginIsAccepted() {
+  // Fixture
+  bool expected = true;
+
+  // Test
+  bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+  // Assert
+  TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatPositionOutOfBoundsPositiveIsNotAccepted() {
+  // Fixture
+  bool expected = false;
+  coreData.S[KC_STATE_X] = 200;
+
+  // Test
+  bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+  // Assert
+  TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatPositionOutOfBoundsNegativeIsNotAccepted() {
+  // Fixture
+  bool expected = false;
+  coreData.S[KC_STATE_Z] = -200;
+
+  // Test
+  bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+  // Assert
+  TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatVelocityOutOfBoundsPositiveIsNotAccepted() {
+  // Fixture
+  bool expected = false;
+  coreData.S[KC_STATE_PX] = 20;
+
+  // Test
+  bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+  // Assert
+  TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatVelocityOutOfBoundsNegativeIsNotAccepted() {
+  // Fixture
+  bool expected = false;
+  coreData.S[KC_STATE_PZ] = -20;
+
+  // Test
+  bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+  // Assert
+  TEST_ASSERT_EQUAL(actual, expected);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_outlier_filter.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_outlier_filter.c
new file mode 100644
index 0000000000000000000000000000000000000000..a2a3b28c350e79a297dc0de91d0b53137d3effc4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_outlier_filter.c
@@ -0,0 +1,231 @@
+// File under test outlierFilter.h
+#include "outlierFilter.h"
+
+#include "unity.h"
+
+#include "mock_cfassert.h"
+
+static tdoaMeasurement_t tdoa;
+
+// Helpers
+uint32_t fixtureCloseLhFilter(OutlierFilterLhState_t* this);
+uint32_t fixtureOpenLhFilter(OutlierFilterLhState_t* this);
+
+
+void setUp(void) {
+  // TDoA filter
+  tdoa.anchorPositions[0].x = 1.0;
+  tdoa.anchorPositions[0].y = 1.0;
+  tdoa.anchorPositions[0].z = 1.0;
+
+  tdoa.anchorPositions[1].x = 5.0;
+  tdoa.anchorPositions[1].y = 1.0;
+  tdoa.anchorPositions[1].z = 1.0;
+
+  tdoa.distanceDiff = 0.0;
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+
+void testThatSamplesAreAcceptedWhenTdoaIsCloserThanDistanceBetweenAnchors() {
+  // Fixture
+  tdoa.distanceDiff = 1.0;
+  bool expected = true;
+
+  // Test
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatSamplesAreRejectedWhenTdoaIsGreaterThanDistanceBetweenAnchors() {
+  // Fixture
+  tdoa.distanceDiff = 10.0;
+  bool expected = false;
+
+  // Test
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatSamplesAreRejectedWhenTdoaIsGreaterButNegativeThanDistanceBetweenAnchors() {
+  // Fixture
+  tdoa.distanceDiff = -10.0;
+  bool expected = false;
+
+  // Test
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+// Lighthouse filter tests ----------------------------------------------------------
+
+#define LH_DISTANCE 4
+#define LH_BAD_ANGLE 1
+#define LH_GOOD_ANGLE 0.0001
+#define LH_TIME_STEP (1000 / 120)
+
+// TOOD krri remove
+static void print(OutlierFilterLhState_t* this, uint32_t time) {
+  printf("win:%i openingTime:%i time:%i ", this->openingWindow, this->openingTime, time);
+  bool isFilterClosed = (time < this->openingTime);
+  if (isFilterClosed) {
+    printf("Is closed\n");
+  } else {
+    printf("Is open\n");
+  }
+}
+
+
+void testThatLhFilterLetsGoodSampleThroughWhenOpen() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureOpenLhFilter(&this);
+  bool expected = true;
+
+  // Test
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterLetsBadSampleThroughWhenOpen() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureOpenLhFilter(&this);
+  bool expected = true;
+
+  // Test
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterLetsGoodSampleThroughWhenClosed() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureCloseLhFilter(&this);
+  bool expected = true;
+
+  // Test
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterBlocksBadSampleWhenClosed() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureCloseLhFilter(&this);
+  bool expected = false;
+
+  // Test
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterOpensForManyBadSamples() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureCloseLhFilter(&this);
+
+  // Test, Assert
+  for (int i = 0; i < 10; i++) {
+    bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+    time += LH_TIME_STEP;
+
+    // Should block the first 4 samples and let the rest through
+    bool expected = (i >= 4);
+    TEST_ASSERT_EQUAL(expected, actual);
+  }
+}
+
+void testThatLhFilterOpensAfterInactivity() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureCloseLhFilter(&this);
+  uint32_t newTime = time + LH_TIME_STEP * 200;
+  bool expected = true;
+
+  // Test
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, newTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterClosesAfterManyGoodSamples() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureOpenLhFilter(&this);
+
+  // Test
+  for (int i = 0; i < 7; i++) {
+    outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+    time += LH_TIME_STEP;
+  }
+
+  // Assert
+  bool expected = false;
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterOpensWithMixedSamples() {
+  // Fixture
+  OutlierFilterLhState_t this;
+  uint32_t time = fixtureCloseLhFilter(&this);
+
+  // Test
+  for (int i = 0; i < 7; i++) {
+    outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+    outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+    time += LH_TIME_STEP;
+  }
+
+  // Assert
+  bool expected = true;
+  bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+  TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+// Helpers /////////////////////////////////////////////////////////////////////////////////
+uint32_t fixtureCloseLhFilter(OutlierFilterLhState_t* this) {
+  uint32_t time = 1000;
+
+  outlierFilterReset(this, time);
+  time += LH_TIME_STEP;
+
+  for (int i = 0; i < 20; i++) {
+    outlierFilterValidateLighthouseSweep(this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+    time += LH_TIME_STEP;
+  }
+
+  return time;
+}
+
+uint32_t fixtureOpenLhFilter(OutlierFilterLhState_t* this) {
+  uint32_t time = 1000;
+
+  outlierFilterReset(this, time);
+  time += LH_TIME_STEP;
+
+  return time;
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_pptraj.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_pptraj.c
new file mode 100644
index 0000000000000000000000000000000000000000..5b0bbec0033a1a745ea40a6f93a347c27800ccc9
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/modules/src/test_pptraj.c
@@ -0,0 +1,433 @@
+// File under test pptraj.h and pptraj_compressed.h
+#include "pptraj.h"
+#include "pptraj_compressed.h"
+
+#include <stdlib.h>
+#include <string.h>
+
+#include "unity.h"
+
+// #define SHOW_OUTPUT
+
+struct poly4d figure8_pieces[] = {
+  {
+    .p = {
+      { 0.000000, -0.000000, 0.000000, -0.000000, 0.830443, -0.276140, -0.384219, 0.180493 },
+      { -0.000000, 0.000000, -0.000000, 0.000000, -1.356107, 0.688430, 0.587426, -0.329106 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 1.05
+  },
+  {
+    .p = {
+      { 0.396058, 0.918033, 0.128965, -0.773546, 0.339704, 0.034310, -0.026417, -0.030049 },
+      { -0.445604, -0.684403, 0.888433, 1.493630, -1.361618, -0.139316, 0.158875, 0.095799 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.71
+  },
+  {
+    .p = {
+      { 0.922409, 0.405715, -0.582968, -0.092188, -0.114670, 0.101046, 0.075834, -0.037926 },
+      { -0.291165, 0.967514, 0.421451, -1.086348, 0.545211, 0.030109, -0.050046, -0.068177 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.62
+  },
+  {
+    .p = {
+      { 0.923174, -0.431533, -0.682975, 0.177173, 0.319468, -0.043852, -0.111269, 0.023166 },
+      { 0.289869, 0.724722, -0.512011, -0.209623, -0.218710, 0.108797, 0.128756, -0.055461 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.7
+  },
+  {
+    .p = {
+      { 0.405364, -0.834716, 0.158939, 0.288175, -0.373738, -0.054995, 0.036090, 0.078627 },
+      { 0.450742, -0.385534, -0.954089, 0.128288, 0.442620, 0.055630, -0.060142, -0.076163 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.56
+  },
+  {
+    .p = {
+      { 0.001062, -0.646270, -0.012560, -0.324065, 0.125327, 0.119738, 0.034567, -0.063130 },
+      { 0.001593, -1.031457, 0.015159, 0.820816, -0.152665, -0.130729, -0.045679, 0.080444 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.56
+  },
+  {
+    .p = {
+      { -0.402804, -0.820508, -0.132914, 0.236278, 0.235164, -0.053551, -0.088687, 0.031253 },
+      { -0.449354, -0.411507, 0.902946, 0.185335, -0.239125, -0.041696, 0.016857, 0.016709 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.7
+  },
+  {
+    .p = {
+      { -0.921641, -0.464596, 0.661875, 0.286582, -0.228921, -0.051987, 0.004669, 0.038463 },
+      { -0.292459, 0.777682, 0.565788, -0.432472, -0.060568, -0.082048, -0.009439, 0.041158 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.62
+  },
+  {
+    .p = {
+      { -0.923935, 0.447832, 0.627381, -0.259808, -0.042325, -0.032258, 0.001420, 0.005294 },
+      { 0.288570, 0.873350, -0.515586, -0.730207, -0.026023, 0.288755, 0.215678, -0.148061 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 0.71
+  },
+  {
+    .p = {
+      { -0.398611, 0.850510, -0.144007, -0.485368, -0.079781, 0.176330, 0.234482, -0.153567 },
+      { 0.447039, -0.532729, -0.855023, 0.878509, 0.775168, -0.391051, -0.713519, 0.391628 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 },
+      { 0, 0, 0, 0, 0, 0, 0, 0 }
+    },
+    .duration = 1.05
+  },
+};
+
+const uint8_t figure8_compressed_pieces[] = {
+  /* initial position */
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  /* t = 0.000s */
+  0x0f, 0x1a, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x7f, 0x00, 0x02, 0x01, 0x8c,
+  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd1, 0xff, 0x3e, 0xff, 0xa9, 0xfe, 0x42, 0xfe,
+
+  /* t = 1.050s */
+  0x0f, 0xc6, 0x02, 0xe9, 0x01, 0x49, 0x02, 0xa5, 0x02, 0xf6, 0x02, 0x3a, 0x03, 0x71, 0x03, 0x9a,
+  0x03, 0xfd, 0xfd, 0xcd, 0xfd, 0xc1, 0xfd, 0xe0, 0xfd, 0x23, 0xfe, 0x7b, 0xfe, 0xdd, 0xfe,
+
+  /* t = 1.760s */
+  0x0f, 0x6c, 0x02, 0xbe, 0x03, 0xd8, 0x03, 0xe6, 0x03, 0xe7, 0x03, 0xdb, 0x03, 0xc1, 0x03, 0x9b,
+  0x03, 0x33, 0xff, 0x90, 0xff, 0xee, 0xff, 0x47, 0x00, 0x98, 0x00, 0xe2, 0x00, 0x22, 0x01,
+
+  /* t = 2.380s */
+  0x0f, 0xbc, 0x02, 0x70, 0x03, 0x35, 0x03, 0xec, 0x02, 0x98, 0x02, 0x40, 0x02, 0xe9, 0x01, 0x95,
+  0x01, 0x6a, 0x01, 0xa7, 0x01, 0xd5, 0x01, 0xf2, 0x01, 0xfa, 0x01, 0xe9, 0x01, 0xc3, 0x01,
+
+  /* t = 3.080s */
+  0x0f, 0x30, 0x02, 0x53, 0x01, 0x12, 0x01, 0xd6, 0x00, 0x9d, 0x00, 0x68, 0x00, 0x35, 0x00, 0x01,
+  0x00, 0xa4, 0x01, 0x77, 0x01, 0x3c, 0x01, 0xf6, 0x00, 0xa7, 0x00, 0x54, 0x00, 0x02, 0x00,
+
+  /* t = 3.640s */
+  0x0f, 0x30, 0x02, 0xcd, 0xff, 0x99, 0xff, 0x64, 0xff, 0x2b, 0xff, 0xee, 0xfe, 0xaf, 0xfe, 0x6d,
+  0xfe, 0xaf, 0xff, 0x5d, 0xff, 0x0f, 0xff, 0xc9, 0xfe, 0x8e, 0xfe, 0x60, 0xfe, 0x3f, 0xfe,
+
+  /* t = 4.200s */
+  0x0f, 0xbc, 0x02, 0x1b, 0xfe, 0xc6, 0xfd, 0x70, 0xfd, 0x1d, 0xfd, 0xd3, 0xfc, 0x95, 0xfc, 0x66,
+  0xfc, 0x15, 0xfe, 0x01, 0xfe, 0x04, 0xfe, 0x1e, 0xfe, 0x4d, 0xfe, 0x8e, 0xfe, 0xdc, 0xfe,
+
+  /* t = 4.900s */
+  0x0f, 0x6c, 0x02, 0x3d, 0xfc, 0x20, 0xfc, 0x11, 0xfc, 0x11, 0xfc, 0x20, 0xfc, 0x3c, 0xfc, 0x64,
+  0xfc, 0x20, 0xff, 0x70, 0xff, 0xc6, 0xff, 0x21, 0x00, 0x7c, 0x00, 0xd3, 0x00, 0x21, 0x01,
+
+  /* t = 5.520s */
+  0x0f, 0xc6, 0x02, 0x91, 0xfc, 0xce, 0xfc, 0x17, 0xfd, 0x69, 0xfd, 0xc1, 0xfd, 0x1b, 0xfe, 0x71,
+  0xfe, 0x79, 0x01, 0xc5, 0x01, 0xfe, 0x01, 0x1b, 0x02, 0x17, 0x02, 0xf5, 0x01, 0xbf, 0x01,
+
+  /* t = 6.230s */
+  0x0f, 0x1d, 0x04, 0xf1, 0xfe, 0x6a, 0xff, 0xca, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x6f, 0x01, 0xf2, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  /* t =  7.28s */
+  0x00, 0x00, 0x00
+};
+
+const uint8_t simplified_figure8_compressed_pieces[] = {
+  /* initial position */
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+  /* trajectory */
+  0x10, 0xd0, 0x07, 0xdc, 0x05, 0x05, 0xd0, 0x07, 0xe8, 0x03, 0xe8, 0x03, 0x05, 0xd0, 0x07, 0xd0,
+  0x07, 0x00, 0x00, 0x05, 0xd0, 0x07, 0xe8, 0x03, 0x18, 0xfc, 0x05, 0xd0, 0x07, 0x00, 0x00, 0x00,
+  0x00, 0x05, 0xd0, 0x07, 0x18, 0xfc, 0xe8, 0x03, 0x05, 0xd0, 0x07, 0x30, 0xf8, 0x00, 0x00, 0x05,
+  0xd0, 0x07, 0x18, 0xfc, 0x18, 0xfc, 0x05, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x10, 0xd0, 0x07,
+  0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+const uint8_t frame_compressed_pieces[] = {
+  /* initial position */
+  0xb8, 0x0b, 0x58, 0x1b, 0xe8, 0x03, 0x00, 0x00,
+
+  /* trajectory */
+  0x00, 0xf4, 0x01, 0x00, 0xf4, 0x01, 0x04, 0xf4, 0x01, 0xa8, 0x1b, 0x04, 0xf4, 0x01, 0xb4, 0x1e,
+  0x04, 0xf4, 0x01, 0xc4, 0x22, 0x04, 0xf4, 0x01, 0xfc, 0x26, 0x04, 0xf4, 0x01, 0xda, 0x2a, 0x14,
+  0xf4, 0x01, 0xec, 0x2c, 0xf2, 0x03, 0x10, 0xf4, 0x01, 0x96, 0x05, 0x10, 0xf4, 0x01, 0xf8, 0x07,
+  0x10, 0xf4, 0x01, 0x8c, 0x0a, 0x10, 0xf4, 0x01, 0x20, 0x0d, 0x10, 0xf4, 0x01, 0x78, 0x0f, 0x14,
+  0xf4, 0x01, 0xe2, 0x2c, 0xcc, 0x10, 0x04, 0xf4, 0x01, 0x30, 0x2a, 0x04, 0xf4, 0x01, 0xa2, 0x26,
+  0x04, 0xf4, 0x01, 0xd8, 0x22, 0x04, 0xf4, 0x01, 0xfa, 0x1e, 0x04, 0xf4, 0x01, 0x08, 0x1b, 0x04,
+  0xf4, 0x01, 0x16, 0x17, 0x04, 0xf4, 0x01, 0x38, 0x13, 0x04, 0xf4, 0x01, 0x78, 0x0f, 0x04, 0xf4,
+  0x01, 0xfe, 0x0b, 0x14, 0xf4, 0x01, 0xc4, 0x09, 0xc2, 0x10, 0x10, 0xf4, 0x01, 0x1e, 0x0f, 0x10,
+  0xf4, 0x01, 0xbc, 0x0c, 0x10, 0xf4, 0x01, 0x28, 0x0a, 0x10, 0xf4, 0x01, 0x94, 0x07, 0x10, 0xf4,
+  0x01, 0x3c, 0x05, 0x14, 0xf4, 0x01, 0xce, 0x09, 0xe8, 0x03, 0x04, 0xf4, 0x01, 0xea, 0x0b, 0x04,
+  0xf4, 0x01, 0xf6, 0x0e, 0x04, 0xf4, 0x01, 0x48, 0x12, 0x04, 0xf4, 0x01, 0x9a, 0x15, 0x04, 0xf4,
+  0x01, 0xba, 0x18, 0x04, 0xf4, 0x01, 0x26, 0x1b, 0x14, 0xf4, 0x01, 0x58, 0x1b, 0x02, 0x03, 0x10,
+  0xf4, 0x01, 0x3c, 0x00, 0x10, 0xf4, 0x01, 0xf0, 0x00, 0x14, 0xf4, 0x01, 0x9e, 0x1b, 0x8a, 0x02,
+  0x14, 0xf4, 0x01, 0x8e, 0x1c, 0xde, 0x03, 0x14, 0xf4, 0x01, 0xd2, 0x1e, 0x4c, 0x04, 0x14, 0xf4,
+  0x01, 0xd4, 0x21, 0x1a, 0x04, 0x14, 0xf4, 0x01, 0xd6, 0x24, 0xe8, 0x03, 0x14, 0xf4, 0x01, 0x9c,
+  0x27, 0xf2, 0x03, 0x14, 0xf4, 0x01, 0xfe, 0x29, 0x60, 0x04, 0x14, 0xf4, 0x01, 0xa2, 0x2b, 0x82,
+  0x05, 0x14, 0xf4, 0x01, 0x88, 0x2c, 0x4e, 0x07, 0x14, 0xf4, 0x01, 0xba, 0x2c, 0x74, 0x09, 0x14,
+  0xf4, 0x01, 0x38, 0x2c, 0x90, 0x0b, 0x14, 0xf4, 0x01, 0x2a, 0x2b, 0x70, 0x0d, 0x14, 0xf4, 0x01,
+  0xb8, 0x29, 0xe2, 0x0e, 0x14, 0xf4, 0x01, 0xce, 0x27, 0xe6, 0x0f, 0x14, 0xf4, 0x01, 0x3a, 0x25,
+  0x90, 0x10, 0x14, 0xf4, 0x01, 0x4c, 0x22, 0xf4, 0x10, 0x14, 0xf4, 0x01, 0x36, 0x1f, 0x30, 0x11,
+  0x14, 0xf4, 0x01, 0x02, 0x1c, 0x4e, 0x11, 0x14, 0xf4, 0x01, 0xce, 0x18, 0x44, 0x11, 0x14, 0xf4,
+  0x01, 0x9a, 0x15, 0x1c, 0x11, 0x14, 0xf4, 0x01, 0x8e, 0x12, 0xcc, 0x10, 0x14, 0xf4, 0x01, 0xaa,
+  0x0f, 0x54, 0x10, 0x14, 0xf4, 0x01, 0x3e, 0x0d, 0xa0, 0x0f, 0x14, 0xf4, 0x01, 0x7c, 0x0b, 0x7e,
+  0x0e, 0x14, 0xf4, 0x01, 0x50, 0x0a, 0xf8, 0x0c, 0x14, 0xf4, 0x01, 0xce, 0x09, 0x18, 0x0b, 0x14,
+  0xf4, 0x01, 0xf6, 0x09, 0xfc, 0x08, 0x14, 0xf4, 0x01, 0xc8, 0x0a, 0xf4, 0x06, 0x14, 0xf4, 0x01,
+  0x30, 0x0c, 0x46, 0x05, 0x14, 0xf4, 0x01, 0xe8, 0x0d, 0x56, 0x04, 0x14, 0xf4, 0x01, 0xe6, 0x0f,
+  0xfc, 0x03, 0x14, 0xf4, 0x01, 0xf8, 0x11, 0xe8, 0x03, 0x14, 0xf4, 0x01, 0x1e, 0x14, 0x06, 0x04,
+  0x14, 0xf4, 0x01, 0x44, 0x16, 0x2e, 0x04, 0x14, 0xf4, 0x01, 0x6a, 0x18, 0x42, 0x04, 0x14, 0xf4,
+  0x01, 0x40, 0x1a, 0xb6, 0x03, 0x14, 0xf4, 0x01, 0x08, 0x1b, 0xf4, 0x01, 0x14, 0xf4, 0x01, 0x58,
+  0x1b, 0x00, 0x00, 0x15, 0xf4, 0x01, 0x90, 0x0b, 0x6c, 0x1b, 0xa0, 0x00, 0x15, 0xf4, 0x01, 0x36,
+  0x0b, 0xa8, 0x1b, 0xfe, 0x01, 0x15, 0xf4, 0x01, 0x78, 0x0a, 0x20, 0x1c, 0xca, 0x03, 0x15, 0xf4,
+  0x01, 0x10, 0x09, 0xfc, 0x1c, 0x8c, 0x05, 0x15, 0xf4, 0x01, 0x62, 0x07, 0xce, 0x1d, 0xbe, 0x05,
+  0x15, 0xf4, 0x01, 0xd2, 0x05, 0xaa, 0x1e, 0x64, 0x05, 0x15, 0xf4, 0x01, 0x60, 0x04, 0x90, 0x1f,
+  0xf6, 0x04, 0x15, 0xf4, 0x01, 0x02, 0x03, 0xa8, 0x20, 0x88, 0x04, 0x15, 0xf4, 0x01, 0xcc, 0x01,
+  0xf2, 0x21, 0x24, 0x04, 0x15, 0xf4, 0x01, 0xc8, 0x00, 0xa0, 0x23, 0xe8, 0x03, 0x15, 0xf4, 0x01,
+  0x14, 0x00, 0xe4, 0x25, 0x06, 0x04, 0x15, 0xf4, 0x01, 0x6e, 0x00, 0x0e, 0x29, 0xce, 0x04, 0x15,
+  0xf4, 0x01, 0x76, 0x02, 0x16, 0x2b, 0xaa, 0x05, 0x15, 0xf4, 0x01, 0x32, 0x05, 0x42, 0x2c, 0x86,
+  0x06, 0x15, 0xf4, 0x01, 0x34, 0x08, 0xc4, 0x2c, 0x76, 0x07, 0x15, 0xf4, 0x01, 0x36, 0x0b, 0xba,
+  0x2c, 0x70, 0x08, 0x15, 0xf4, 0x01, 0x10, 0x0e, 0x38, 0x2c, 0x88, 0x09, 0x15, 0xf4, 0x01, 0x9a,
+  0x10, 0x16, 0x2b, 0xbe, 0x0a, 0x15, 0xf4, 0x01, 0x98, 0x12, 0x40, 0x29, 0x30, 0x0c, 0x15, 0xf4,
+  0x01, 0x92, 0x13, 0x66, 0x26, 0xfc, 0x0d, 0x15, 0xf4, 0x01, 0x1a, 0x13, 0x6e, 0x23, 0x82, 0x0f,
+  0x15, 0xf4, 0x01, 0x02, 0x12, 0x66, 0x21, 0x54, 0x10, 0x15, 0xf4, 0x01, 0xae, 0x10, 0xc2, 0x1f,
+  0xd6, 0x10, 0x15, 0xf4, 0x01, 0x32, 0x0f, 0x50, 0x1e, 0x26, 0x11, 0x15, 0xf4, 0x01, 0xac, 0x0d,
+  0xfc, 0x1c, 0x4e, 0x11, 0x15, 0xf4, 0x01, 0x12, 0x0c, 0xbc, 0x1b, 0x62, 0x11, 0x15, 0xf4, 0x01,
+  0x78, 0x0a, 0x90, 0x1a, 0x58, 0x11, 0x15, 0xf4, 0x01, 0xde, 0x08, 0x64, 0x19, 0x44, 0x11, 0x15,
+  0xf4, 0x01, 0x3a, 0x07, 0x42, 0x18, 0x12, 0x11, 0x15, 0xf4, 0x01, 0xaa, 0x05, 0x0c, 0x17, 0xcc,
+  0x10, 0x15, 0xf4, 0x01, 0x24, 0x04, 0xd6, 0x15, 0x72, 0x10, 0x15, 0xf4, 0x01, 0xb2, 0x02, 0x82,
+  0x14, 0x04, 0x10, 0x15, 0xf4, 0x01, 0x68, 0x01, 0xfc, 0x12, 0x6e, 0x0f, 0x15, 0xf4, 0x01, 0x64,
+  0x00, 0x30, 0x11, 0xb0, 0x0e, 0x15, 0xf4, 0x01, 0x32, 0x00, 0x92, 0x0e, 0x84, 0x0d, 0x15, 0xf4,
+  0x01, 0x68, 0x01, 0x6c, 0x0c, 0x6c, 0x0c, 0x15, 0xf4, 0x01, 0x84, 0x03, 0x0e, 0x0b, 0x86, 0x0b,
+  0x15, 0xf4, 0x01, 0x18, 0x06, 0x32, 0x0a, 0xbe, 0x0a, 0x15, 0xf4, 0x01, 0xf2, 0x08, 0xd8, 0x09,
+  0xf6, 0x09, 0x15, 0xf4, 0x01, 0xea, 0x0b, 0xf6, 0x09, 0x2e, 0x09, 0x15, 0xf4, 0x01, 0xce, 0x0e,
+  0x8c, 0x0a, 0x52, 0x08, 0x15, 0xf4, 0x01, 0x62, 0x11, 0xc2, 0x0b, 0x58, 0x07, 0x15, 0xf4, 0x01,
+  0x38, 0x13, 0xe8, 0x0d, 0xfa, 0x05, 0x15, 0xf4, 0x01, 0x6a, 0x13, 0x12, 0x11, 0x74, 0x04, 0x15,
+  0xf4, 0x01, 0xf2, 0x12, 0x1a, 0x13, 0xf2, 0x03, 0x15, 0xf4, 0x01, 0x5c, 0x12, 0x96, 0x14, 0xde,
+  0x03, 0x15, 0xf4, 0x01, 0xa8, 0x11, 0xcc, 0x15, 0xfc, 0x03, 0x15, 0xf4, 0x01, 0xea, 0x10, 0xd0,
+  0x16, 0x42, 0x04, 0x15, 0xf4, 0x01, 0x22, 0x10, 0xac, 0x17, 0x92, 0x04, 0x15, 0xf4, 0x01, 0x50,
+  0x0f, 0x74, 0x18, 0xe2, 0x04, 0x15, 0xf4, 0x01, 0x74, 0x0e, 0x32, 0x19, 0x28, 0x05, 0x05, 0xf4,
+  0x01, 0x84, 0x0d, 0xdc, 0x19, 0x15, 0xf4, 0x01, 0x9e, 0x0c, 0x90, 0x1a, 0xde, 0x03, 0x15, 0xf4,
+  0x01, 0x30, 0x0c, 0xea, 0x1a, 0x94, 0x02, 0x15, 0xf4, 0x01, 0xf4, 0x0b, 0x1c, 0x1b, 0x90, 0x01,
+  0x15, 0xf4, 0x01, 0xd6, 0x0b, 0x3a, 0x1b, 0xd2, 0x00, 0x15, 0xf4, 0x01, 0xc2, 0x0b, 0x4e, 0x1b,
+  0x46, 0x00, 0x15, 0xf4, 0x01, 0xb8, 0x0b, 0x58, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+void setUp(void) {
+  // Empty
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testFigure8Evaluation(void) {
+  // Fixture
+  struct piecewise_traj traj;
+  float duration, t;
+
+  traj.t_begin = 2;
+  traj.timescale = 1;
+  traj.shift = vzero();
+  traj.n_pieces = sizeof(figure8_pieces) / sizeof(figure8_pieces[0]);
+  traj.pieces = figure8_pieces;
+  traj.shift = mkvec(-1, 2, 3);
+
+  // Test
+  duration = piecewise_duration(&traj);
+#ifdef SHOW_OUTPUT
+  printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+  for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+    struct traj_eval actual = piecewise_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+    printf(
+      "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+      t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+      actual.vel.x, actual.vel.y, actual.vel.z,
+      actual.acc.x, actual.acc.y, actual.acc.z
+    );
+#endif
+
+    TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+    TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+    TEST_ASSERT(piecewise_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+  }
+
+  // Assert
+}
+
+void testCompressedFigure8Evaluation(void) {
+  // Fixture
+  struct piecewise_traj_compressed traj;
+  float duration, t;
+
+  piecewise_compressed_load(&traj, figure8_compressed_pieces);
+  traj.t_begin = 2;
+  traj.shift = mkvec(-1, 2, 3);
+
+  // Test
+  duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+  printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+  for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+    struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+    printf(
+      "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+      t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+      actual.vel.x, actual.vel.y, actual.vel.z,
+      actual.acc.x, actual.acc.y, actual.acc.z
+    );
+#endif
+
+    TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+    TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+    TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+  }
+
+  // Assert
+}
+
+void testCompressedFrameEvaluation(void) {
+  // Fixture
+  struct piecewise_traj_compressed traj;
+  float duration, t;
+
+  piecewise_compressed_load(&traj, frame_compressed_pieces);
+  traj.t_begin = 0;
+  traj.shift = mkvec(0, 0, 0);
+
+  // Test
+  duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+  printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+  for (t = traj.t_begin; t < traj.t_begin + duration; t += 0.1) {
+    struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+    printf(
+      "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+      t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+      actual.vel.x, actual.vel.y, actual.vel.z,
+      actual.acc.x, actual.acc.y, actual.acc.z
+    );
+#endif
+
+    TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+    TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+    TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+  }
+
+  // Assert
+}
+
+void testCompressedSimplifiedFigure8Evaluation(void) {
+  // Fixture
+  struct piecewise_traj_compressed traj;
+  float duration, t;
+
+  piecewise_compressed_load(&traj, simplified_figure8_compressed_pieces);
+  traj.t_begin = 2;
+  traj.shift = mkvec(-1, 2, 3);
+
+  // Test
+  duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+  printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+  for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+    struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+    printf(
+      "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+      t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+      actual.vel.x, actual.vel.y, actual.vel.z,
+      actual.acc.x, actual.acc.y, actual.acc.z
+    );
+#endif
+
+    TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+    TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+  }
+
+  // Assert
+}
+
+#define MAX(a, b) ((a) > (b) ? (a) : (b))
+
+void testCompressedFigure8RandomOrderQueries(void) {
+  // Fixture
+  struct piecewise_traj traj;
+  struct piecewise_traj_compressed ctraj;
+  float duration, t, diff, maxdiff;
+  int i;
+
+  traj.t_begin = 2;
+  traj.timescale = 1;
+  traj.shift = vzero();
+  traj.n_pieces = sizeof(figure8_pieces) / sizeof(figure8_pieces[0]);
+  traj.pieces = figure8_pieces;
+  traj.shift = mkvec(-1, 2, 3);
+
+  piecewise_compressed_load(&ctraj, figure8_compressed_pieces);
+  ctraj.t_begin = 2;
+  ctraj.shift = mkvec(-1, 2, 3);
+
+  // Test
+  duration = piecewise_compressed_duration(&ctraj);
+#ifdef SHOW_OUTPUT
+  printf("t\tdiff\tx\ty\tz\tyaw\texp_x\texp_y\texp_z\texp_yaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+  i = 1000; maxdiff = 0.0;
+  for (i = 0; i < 10; i++) {
+    struct traj_eval actual, expected;
+
+    t = ctraj.t_begin + (rand() / (float)RAND_MAX) * (duration + 1) - 0.5;
+
+    actual = piecewise_compressed_eval(&ctraj, t);
+    expected = piecewise_eval(&traj, t);
+
+    diff = 0.0;
+    diff = MAX(diff, fabs(actual.pos.x - expected.pos.x));
+    diff = MAX(diff, fabs(actual.pos.y - expected.pos.y));
+    diff = MAX(diff, fabs(actual.pos.z - expected.pos.z));
+    diff = MAX(diff, fabs(actual.yaw - expected.yaw));
+
+#ifdef SHOW_OUTPUT
+    printf(
+      "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+      t, diff,
+      actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+      expected.pos.x, expected.pos.y, expected.pos.z, expected.yaw
+    );
+#endif
+
+    maxdiff = MAX(diff, maxdiff);
+  }
+
+  // Assert
+  TEST_ASSERT_FLOAT_WITHIN(0.02, 0, maxdiff);
+#ifdef SHOW_OUTPUT
+  printf("Maximum difference = %.4f\n", maxdiff);
+#endif
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform.c
new file mode 100644
index 0000000000000000000000000000000000000000..a0cccc4de7cf92e2149af0eb2cc53b26381411dd
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform.c
@@ -0,0 +1,160 @@
+// File under test platform.c
+#include "platform.h"
+
+#include "unity.h"
+#include <string.h>
+
+
+static char actualDeviceType[100];
+
+
+// Mock implementation
+static char* deviceTypeStringToReturn = "";
+void platformGetDeviceTypeString(char* deviceTypeString) {
+  strcpy(deviceTypeString, deviceTypeStringToReturn);
+}
+
+#define CONFIG_COUNT 3
+static platformConfig_t fixtureConfig[CONFIG_COUNT];
+
+void setUp(void) {
+  strcpy(actualDeviceType, "abcdefghijklmn");
+  deviceTypeStringToReturn = "";
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testThatDeviceTypeStringIsReturned() {
+  // Fixture
+  const char* deviceTypeString = "0;CF20";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("CF20", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWithTrailingSemiColonAndKeyValues() {
+  // Fixture
+  const char* deviceTypeString = "0;CF21;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("CF21", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWhenTypeIdentifierIsShorterThan4Chars() {
+  // Fixture
+  const char* deviceTypeString = "0;AB;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("AB", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedWhenTypeIdentifierIsTooLong() {
+  // Fixture
+  const char* deviceTypeString = "0;CF21XXX;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfVersionIfNot0() {
+  // Fixture
+  const char* deviceTypeString = "1;CF21";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfSecondCharIsNotSemicolon() {
+  // Fixture
+  const char* deviceTypeString = "0+CF21";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatFirstMatchingPlatformConfigIsReturned() {
+  // Fixture
+  deviceTypeStringToReturn = "0;ASD";
+
+  // Test
+  int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT);
+
+  // Assert
+  const char* actualName = platformConfigGetDeviceTypeName();
+
+  TEST_ASSERT_EQUAL(0, actual);
+  TEST_ASSERT_EQUAL_STRING("Second", actualName);
+}
+
+void testThatErrorIsReturnedWhenDeviceIsNotInConfig() {
+  // Fixture
+  deviceTypeStringToReturn = "0;WRNG";
+
+  // Test
+  int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT);
+
+  // Assert
+  TEST_ASSERT_EQUAL(1, actual);
+}
+
+void testThatItIsNotSearchingOutsideListOfPlatformConfigs() {
+  // Fixture
+  deviceTypeStringToReturn = "0;ZXC";
+
+  // Test
+  int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT - 1);
+
+  // Assert
+  TEST_ASSERT_EQUAL(1, actual);
+}
+
+
+
+// Dummy implementations -------------------
+
+const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs){
+  return 0;
+}
+
+void platformInitHardware(){}
+
+// Fixtures -------------------------
+
+
+static platformConfig_t fixtureConfig[CONFIG_COUNT] = {
+  {
+    .deviceType = "QWE",
+    .deviceTypeName = "First",
+  },
+  {
+    .deviceType = "ASD",
+    .deviceTypeName = "Second",
+  },
+  {
+    .deviceType = "ZXC",
+    .deviceTypeName = "Third",
+  }
+};
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform_stm32f4.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform_stm32f4.c
new file mode 100644
index 0000000000000000000000000000000000000000..47ef5605589006cd7387b8112878a9d901922a8b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/platform/test_platform_stm32f4.c
@@ -0,0 +1,113 @@
+// File under test platform_stm32f4.c
+
+// @MODULE "platform_stm32f4.c"
+#include "platform.h" // @NO_MODULE
+
+#include "unity.h"
+#include <string.h>
+
+
+#define PLATFORM_INFO_OTP_NR_OF_BLOCKS 16
+#define PLATFORM_INFO_OTP_BLOCK_LEN 32
+static char mockOtpBlocks[PLATFORM_INFO_OTP_NR_OF_BLOCKS][PLATFORM_INFO_OTP_BLOCK_LEN];
+
+static void fixtureInitOtpBlocks();
+static void fixtureSetOtpBlockString(const int blockNr, const char* content);
+static void fixtureClearOtpBlock(const int blockNr);
+
+void setUp(void) {
+  fixtureInitOtpBlocks();
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testThatFirstBlockIsReturnedIfSet() {
+  // Fixture
+  fixtureSetOtpBlockString(0, "0;CF21");
+
+  char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+  // Test
+  platformGetDeviceTypeString(actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("0;CF21", actual);
+}
+
+void testThatLAterBlockIsReturnedIfEarlierBlockAreCleared() {
+  // Fixture
+  fixtureClearOtpBlock(0);
+  fixtureClearOtpBlock(1);
+  fixtureClearOtpBlock(2);
+  fixtureSetOtpBlockString(3, "0;CF21");
+
+  char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+  // Test
+  platformGetDeviceTypeString(actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("0;CF21", actual);
+}
+
+void testThatDefaultPlatformStringIsCF20IfNoInfoIsSet() {
+  // Fixture
+  char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+  // Test
+  platformGetDeviceTypeString(actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("0;CF20", actual);
+}
+
+void testThatDefaultPlatformStringIsCF20IfAllBlocksAreCleared() {
+  // Fixture
+  memset(mockOtpBlocks, 0x00, sizeof(mockOtpBlocks));
+
+  char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+  // Test
+  platformGetDeviceTypeString(actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("0;CF20", actual);
+}
+
+void testThatNoMoreThanTheBlockSizeIsCopiedIfTheBlockIsNotNullTerminated() {
+  // Fixture
+  // Set the block to a string that is longer than the block size of 32
+  fixtureSetOtpBlockString(0, "0123456789012345678901234567890123456789");
+
+  char actual[100];
+
+  // Test
+  platformGetDeviceTypeString(actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("01234567890123456789012345678901", actual);
+}
+
+
+
+// Replaces function in file under test
+char* getAddressOfOtpMemoryBlock(const int blockNr) {
+  return mockOtpBlocks[blockNr];
+}
+
+
+// Fixtures
+
+static void fixtureInitOtpBlocks() {
+  memset(mockOtpBlocks, 0xff, sizeof(mockOtpBlocks));
+}
+
+static void fixtureSetOtpBlockString(const int blockNr, const char* content) {
+  strcpy(mockOtpBlocks[blockNr], content);
+}
+
+static void fixtureClearOtpBlock(const int blockNr) {
+  memset(mockOtpBlocks[blockNr], 0, PLATFORM_INFO_OTP_BLOCK_LEN);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/crtp_localization_serviceMocks.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/crtp_localization_serviceMocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..509239d4da49b43f36c5d8f5b5cde78c23e14b4b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/crtp_localization_serviceMocks.c
@@ -0,0 +1,6 @@
+#include <stdint.h>
+
+void locSrvSendRangeFloat(uint8_t id, float range)
+{
+  // Do nothing
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/crtp_localization_serviceMocks.h b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/crtp_localization_serviceMocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..45503d0d7abcf8ccd8bb23207d1b8c824afc844c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.c
@@ -0,0 +1,105 @@
+#include "dw1000Mocks.h"
+
+#include <string.h>
+#include "unity.h"
+#include "mock_libdw1000.h"
+
+
+// dwGetData mock /////////////////////////////////////////////////////////////
+
+#define DW_GET_DATA_MAX_CALLS 100
+
+static struct {
+  dwDevice_t* expectedDev;
+  unsigned int expectedDataLength;
+  packet_t packet;
+} dwGetDataContexts[DW_GET_DATA_MAX_CALLS];
+
+static int dwGetDataMockCallIndex = 0;
+
+static void dwGetDataMockCallback(dwDevice_t* actualDev, uint8_t* data, unsigned int actualDataLength, int cmock_num_calls) {
+  TEST_ASSERT_EQUAL_PTR(dwGetDataContexts[cmock_num_calls].expectedDev, actualDev);
+  TEST_ASSERT_EQUAL_UINT(dwGetDataContexts[cmock_num_calls].expectedDataLength, actualDataLength);
+
+  memcpy(data, &dwGetDataContexts[cmock_num_calls].packet, actualDataLength);
+}
+
+void dwGetData_ExpectAndCopyData(dwDevice_t* expDev, const packet_t* rxPacket, unsigned int expDataLength) {
+  TEST_ASSERT_TRUE(dwGetDataMockCallIndex < DW_GET_DATA_MAX_CALLS);
+
+  dwGetDataContexts[dwGetDataMockCallIndex].expectedDev = expDev;
+  dwGetDataContexts[dwGetDataMockCallIndex].expectedDataLength = expDataLength;
+  memcpy(&dwGetDataContexts[dwGetDataMockCallIndex].packet, rxPacket, sizeof(packet_t));
+
+  dwGetData_StubWithCallback(dwGetDataMockCallback);
+
+  dwGetDataMockCallIndex++;
+}
+
+void dwGetData_resetMock() {
+  dwGetDataMockCallIndex = 0;
+}
+
+
+// dwGetTransmitTimestamp mock ////////////////////////////////////////////////
+
+#define DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS 100
+
+static struct {
+  dwDevice_t* expectedDev;
+  dwTime_t time;
+} dwGetTransmitTimestampContexts[DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS];
+
+static int dwGetTransmitTimestampMockCallIndex = 0;
+
+static void dwGetTransmitTimestampMockCallback(dwDevice_t* actualDev, dwTime_t* time, int cmock_num_calls) {
+  TEST_ASSERT_EQUAL_PTR(dwGetTransmitTimestampContexts[cmock_num_calls].expectedDev, actualDev);
+  memcpy(time, &dwGetTransmitTimestampContexts[cmock_num_calls].time, sizeof(dwTime_t));
+}
+
+void dwGetTransmitTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time) {
+  TEST_ASSERT_TRUE(dwGetTransmitTimestampMockCallIndex < DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS);
+
+  dwGetTransmitTimestampContexts[dwGetTransmitTimestampMockCallIndex].expectedDev = expDev;
+  memcpy(&dwGetTransmitTimestampContexts[dwGetTransmitTimestampMockCallIndex].time, time, sizeof(dwTime_t));
+
+  dwGetTransmitTimestamp_StubWithCallback(dwGetTransmitTimestampMockCallback);
+
+  dwGetTransmitTimestampMockCallIndex++;
+}
+
+void dwGetTransmitTimestamp_resetMock() {
+  dwGetTransmitTimestampMockCallIndex = 0;
+}
+
+
+// dwGetReceiveTimestamp mock /////////////////////////////////////////////////
+
+#define DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS 100
+
+static struct {
+  dwDevice_t* expectedDev;
+  dwTime_t time;
+} dwGetReceiveTimestampContexts[DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS];
+
+int dwGetReceiveTimestampMockCallIndex = 0;
+
+static void dwGetReceiveTimestampMockCallback(dwDevice_t* actualDev, dwTime_t* time, int cmock_num_calls) {
+  TEST_ASSERT_EQUAL_PTR(dwGetReceiveTimestampContexts[cmock_num_calls].expectedDev, actualDev);
+  memcpy(time, &dwGetReceiveTimestampContexts[cmock_num_calls].time, sizeof(dwTime_t));
+}
+
+void dwGetReceiveTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time) {
+  TEST_ASSERT_TRUE(dwGetReceiveTimestampMockCallIndex < DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS);
+
+  dwGetReceiveTimestampContexts[dwGetReceiveTimestampMockCallIndex].expectedDev = expDev;
+  memcpy(&dwGetReceiveTimestampContexts[dwGetReceiveTimestampMockCallIndex].time, time, sizeof(dwTime_t));
+
+  dwGetReceiveTimestamp_StubWithCallback(dwGetReceiveTimestampMockCallback);
+
+  dwGetReceiveTimestampMockCallIndex++;
+}
+
+void dwGetReceiveTimestamp_resetMock() {
+  dwGetReceiveTimestampMockCallIndex = 0;
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.h b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..b7e68480a186293f4d379c949f58eefbdec36cf2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/dw1000Mocks.h
@@ -0,0 +1,16 @@
+#ifndef __DW_1000_MOCKS_H__
+#define __DW_1000_MOCKS_H__
+
+#include "libdw1000Types.h"
+#include "mac.h"
+
+void dwGetData_ExpectAndCopyData(dwDevice_t* expDev, const packet_t* rxPacket, unsigned int expDataLength);
+void dwGetData_resetMock();
+
+void dwGetTransmitTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time);
+void dwGetTransmitTimestamp_resetMock();
+
+void dwGetReceiveTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time);
+void dwGetReceiveTimestamp_resetMock();
+
+#endif // __DW_1000_MOCKS_H__
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/freertosMocks.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/freertosMocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..60725cbea51fc244181c0b73c8b0ce84429d8905
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/freertosMocks.c
@@ -0,0 +1,10 @@
+#include <stdint.h>
+
+uint32_t xTaskGetTickCount()
+{
+  return 1;
+}
+
+void vTaskDelay(uint32_t delay) {
+  return;
+}
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/freertosMocks.h b/crazyflie_software/crazyflie-firmware-lab-part-1/test/testSupport/freertosMocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/kve/test_kve_storage.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/kve/test_kve_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..763fe62b95059d1abbc60907ee1eda824db476e2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/kve/test_kve_storage.c
@@ -0,0 +1,250 @@
+#include "kve/kve_storage.h"
+
+#include "unity.h"
+#include <string.h>
+
+#define TEST_MEMORY_SIZE 100
+
+static size_t min(size_t a, size_t b)
+{
+    if (a < b) {
+        return a;
+    } else {
+        return b;
+    }
+}
+
+char memory[TEST_MEMORY_SIZE];
+char cacheMemory[TEST_MEMORY_SIZE];
+
+size_t kvememoryRead(size_t address, void* data, size_t length) {
+    if(address > TEST_MEMORY_SIZE) {
+        return 0;
+    }
+    size_t toRead = min(length, TEST_MEMORY_SIZE - address);
+    memcpy(data, &memory[address], toRead);
+
+    return toRead;
+}
+
+size_t kvememoryWrite(size_t address, const void* data, size_t length) {
+    if(address > TEST_MEMORY_SIZE) {
+        return 0;
+    }
+    size_t toWrite = min(length, TEST_MEMORY_SIZE - address);
+    memcpy(&cacheMemory[address], data, toWrite);
+
+    return toWrite;
+}
+
+void kvememoryFlush() {
+    memcpy(memory, cacheMemory, TEST_MEMORY_SIZE);
+}
+
+kveMemory_t kveMemory = {
+    .memorySize = TEST_MEMORY_SIZE,
+    .read = kvememoryRead,
+    .write = kvememoryWrite,
+    .flush = kvememoryFlush,
+};
+
+void setUp(void) {
+    // The full memory is initialized to the characted 'a'
+    memset(memory, 'a', TEST_MEMORY_SIZE);
+    memset(cacheMemory, 'a', TEST_MEMORY_SIZE);
+}
+
+void testThatWriteItemDoesWriteTheItemAtTheRightAddress() {
+  // Fixture
+  size_t address = 42;
+  char *key = "hello";
+  void *buffer = "world";
+  size_t bufferLength = 5;
+
+  size_t expectedItemSize = 3 + strlen(key) + strlen(buffer);
+  char *expectedItemInMemory = "a\x0d\x00\x05helloworlda";
+
+
+  // Test
+  size_t itemSize = kveStorageWriteItem(&kveMemory, address, key, buffer, bufferLength);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+  TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address-1], expectedItemSize+2);
+}
+
+void testThatWriteHoleDoesWriteAHoleAtTheRightAddress() {
+  // Fixture
+  memset(memory, 'a', TEST_MEMORY_SIZE);
+
+  size_t address = 42;
+  uint16_t length = 5;
+
+  size_t expectedItemSize = length;
+  char *expectedItemInMemory = "a\x05\0\0aa";
+
+
+  // Test
+  size_t itemSize = kveStorageWriteHole(&kveMemory, address, length);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+  TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address - 1], expectedItemSize + 1);
+}
+
+void testThatWriteEndDoesWriteTheEndAtTheRightAddress() {
+  // Fixture
+  memset(memory, 'a', TEST_MEMORY_SIZE);
+
+  size_t address = 42;
+
+  size_t expectedItemSize = 2;
+  char *expectedItemInMemory = "a\xff\xff" "a";
+
+
+  // Test
+  size_t itemSize = kveStorageWriteEnd(&kveMemory, address);
+
+  // Assert
+  TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+  TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address - 1], expectedItemSize + 2);
+}
+
+void testThatMoveMemoryDoesMoveAnItem() {
+  // Fixture
+  size_t address = 42;
+  size_t newAddress = 7;
+  char *key = "hello";
+  void *buffer = "world";
+  size_t bufferLength = 5;
+
+  char *expectedItemInMemory = "\x0d\x00\x05helloworld";
+
+  // Create an item
+  size_t itemSize = kveStorageWriteItem(&kveMemory, address, key, buffer, bufferLength);
+
+  // Test
+  kveStorageMoveMemory(&kveMemory, address, newAddress, itemSize);
+  
+  // Assert
+  TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[newAddress], itemSize);
+}
+
+void testThatFindItemByKeyFindsAnItem() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+
+  // Test
+  size_t found_address = kveStorageFindItemByKey(&kveMemory, 0, "world");
+  
+  // Assert
+  TEST_ASSERT_EQUAL(world_address, found_address);
+}
+
+void testThatFindItemByKeyDoNotFindAnItemWhenSearchingAfterIt() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+  size_t end_address = world_address + 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+  kveStorageWriteEnd(&kveMemory, end_address);
+
+
+  // Test
+  size_t found_address = kveStorageFindItemByKey(&kveMemory, world_address, "hello");
+  
+  // Assert
+  TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindEndFindsTheEnd() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+  size_t end_address = world_address + 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+  kveStorageWriteEnd(&kveMemory, end_address);
+
+  // Test
+  size_t found_address = kveStorageFindEnd(&kveMemory, 0);
+  
+  // Assert
+  TEST_ASSERT_EQUAL(end_address, found_address);
+}
+
+void testThatFindEndReturnInvalidAddressIfNoEnd() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+
+  // Test
+  size_t found_address = kveStorageFindEnd(&kveMemory, 0);
+  
+  // Assert
+  TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindNextItemFindsTheNextItem() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+  size_t end_address = world_address + 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+  kveStorageWriteEnd(&kveMemory, end_address);
+
+  // Test
+  size_t found_address = kveStorageFindNextItem(&kveMemory, hello_address);
+  
+  // Assert
+  TEST_ASSERT_EQUAL(world_address, found_address);
+}
+
+void testThatFindNextItemReturnInvalidAddressIfNoMoreItem() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t world_address = 13;
+  size_t end_address = world_address + 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+  kveStorageWriteEnd(&kveMemory, end_address);
+
+  // Test
+  size_t found_address = kveStorageFindNextItem(&kveMemory, world_address);
+  
+  // Assert
+  TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindNextItemJumpsOverHoles() {
+  // Fixture
+  size_t hello_address = 0;
+  size_t hole_address = 13;
+  size_t hole_length = 10;
+  size_t world_address = 23;
+  size_t end_address = world_address + 13;
+
+  kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+  kveStorageWriteHole(&kveMemory, hole_address, hole_length);
+  kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+  kveStorageWriteEnd(&kveMemory, end_address);
+
+  // Test
+  size_t found_address = kveStorageFindNextItem(&kveMemory, hello_address);
+  
+  // Assert
+  TEST_ASSERT_EQUAL(world_address, found_address);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_lighthouse_geometry.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_lighthouse_geometry.c
new file mode 100644
index 0000000000000000000000000000000000000000..5b0e980455a4b7e3a93269a719227391bbbf405f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_lighthouse_geometry.c
@@ -0,0 +1,258 @@
+#include "lighthouse_geometry.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_cfassert.h"
+
+
+// Build the arm dsp math lib and use the "real thing" instead of mocking calls to it
+// @BUILD_LIB ARM_DSP_MATH
+
+void setUp(void) {
+}
+
+void testThatBaseStationPositionIsExtracted() {
+  // Fixture
+  vec3d actual;
+  baseStationGeometry_t baseStationGeometry = {.origin = {1.0,  1.0,  3.0, }};
+
+  vec3d expected = {1.0,  1.0,  3.0};
+
+  // Test
+  lighthouseGeometryGetBaseStationPosition(&baseStationGeometry, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStation() {
+  // Fixture
+  baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+  float angle1 = 0.0f;
+  float angle2 = 0.0f;
+  vec3d actual;
+
+  vec3d expected = {1.0,  0.0,  0.0};
+
+  // Test
+  lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromRotatedBaseStation() {
+  // Fixture
+
+  // Rotation about Y-axis
+  float rotY = 0.1;
+  baseStationGeometry_t bsGeo = {.mat = {{cos(rotY), 0, sin(rotY)}, {0, 1, 0}, {-sin(rotY), 0, cos(rotY)}}};
+
+  float angle1 = 0.0f;
+  float angle2 = 0.0f;
+  vec3d actual;
+
+  vec3d expected = {cos(rotY),  0.0, -sin(rotY)};
+
+  // Test
+  lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStationWithHorizontalSweepAngle() {
+  // Fixture
+  baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+  float angle1 = 0.1f;
+  float angle2 = 0.0f;
+  vec3d actual;
+
+  vec3d expected = {cos(angle1),  sin(angle1),  0.0};
+
+  // Test
+  lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStationWithVerticalSweepAngle() {
+  // Fixture
+  baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+  float angle1 = 0.0f;
+  float angle2 = 0.1f;
+  vec3d actual;
+
+  vec3d expected = {cos(angle2),  0.0,  sin(angle2)};
+
+  // Test
+  lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatIntersectionPointIsFoundForLinePerpendicularToPlane() {
+  // Fixture
+  vec3d linePoint = {1, 1, 2};
+  vec3d lineVec = {0, 0, -1};
+  vec3d planePoint = {0, 0, 1};
+  vec3d planeNormal = {0, 0, 1};
+
+  vec3d actualIntersecionPoint;
+
+  vec3d expected = {1, 1, 1};
+
+  // Test
+  bool actualFound = lighthouseGeometryIntersectionPlaneVector(linePoint, lineVec, planePoint, planeNormal, actualIntersecionPoint);
+
+  // Assert
+  TEST_ASSERT_TRUE(actualFound);
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actualIntersecionPoint, vec3d_size);
+}
+
+void testThatNoIntersectionPointIsFoundForLineParallelToPlane() {
+  // Fixture
+  vec3d linePoint = {1, 1, 2};
+  vec3d lineVec = {1, 1, 0};
+  vec3d planePoint = {0, 0, 1};
+  vec3d planeNormal = {0, 0, 1};
+
+  vec3d actualIntersecionPoint;
+
+  // Test
+  bool actualFound = lighthouseGeometryIntersectionPlaneVector(linePoint, lineVec, planePoint, planeNormal, actualIntersecionPoint);
+
+  // Assert
+  TEST_ASSERT_FALSE(actualFound);
+}
+
+void testThatSensorPositionIsTranslated() {
+  // Fixture
+  vec3d cfPos = {1, 2, 3};
+  vec3d sensorPos = {-0.015, -0.0075, 0.0};
+
+  float r[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+  arm_matrix_instance_f32 R = {3, 3, (float*)r};
+
+  // Sensor 1 is in the right back corner of the deck
+  vec3d expected = {1 - 0.015, 2 - 0.0075, 3};
+
+  vec3d actual;
+
+  // Test
+  lighthouseGeometryGetSensorPosition(cfPos, &R, sensorPos, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatSensorPositionIsRotated() {
+  // Fixture
+  vec3d cfPos = {1, 2, 3};
+  vec3d sensorPos = {-0.015, -0.0075, 0.0};
+
+  // Rotate 90 degrees about the Y-axis
+  float r[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
+  arm_matrix_instance_f32 R = {3, 3, (float*)r};
+
+  // Sensor 1 is in the right back corner of the deck
+  vec3d expected = {1, 2 - 0.0075, 3 + 0.015};
+
+  vec3d actual;
+
+  // Test
+  lighthouseGeometryGetSensorPosition(cfPos, &R, sensorPos, actual);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatYawDeltaIsCalculatedForZeroAngle() {
+  // Fixture
+  vec3d ipv = {0, 1, 1};
+  vec3d spv = {0, 2, 2};
+  vec3d n = {1, 0, 0};
+
+  float actualAngle;
+  float expected = 0.0f;
+
+  // Test
+  float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+  // Assert
+  TEST_ASSERT_TRUE(actualResult);
+  TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPiAngle() {
+  // Fixture
+  vec3d ipv = {0, 1, 1};
+  vec3d spv = {0, -2, -2};
+  vec3d n = {1, 0, 0};
+
+  float actualAngle;
+  float expected = PI;
+
+  // Test
+  float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+  // Assert
+  TEST_ASSERT_TRUE(actualResult);
+  TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPerpendicularVectors() {
+  // Fixture
+  vec3d ipv = {0, 1, 1};
+  vec3d spv = {0, 2, -2};
+  vec3d n = {1, 0, 0};
+
+  float actualAngle;
+  float expected = -PI / 2;
+
+  // Test
+  float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+  // Assert
+  TEST_ASSERT_TRUE(actualResult);
+  TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPerpendicularVectorsWithNegativeAngle() {
+  // Fixture
+  vec3d ipv = {0, 1, -1};
+  vec3d spv = {0, 2, 2};
+  vec3d n = {1, 0, 0};
+
+  float actualAngle;
+  float expected = PI / 2;
+
+  // Test
+  float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+  // Assert
+  TEST_ASSERT_TRUE(actualResult);
+  TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsNotCalculatedForSmallIntersectionPointVector() {
+  // Fixture
+  vec3d ipv = {0, 0.00001, -0.00001};
+  vec3d spv = {0, 2, 2};
+  vec3d n = {1, 0, 0};
+
+  float actualAngle;
+
+  // Test
+  float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+  // Assert
+  TEST_ASSERT_FALSE(actualResult);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor.c
new file mode 100644
index 0000000000000000000000000000000000000000..71d7378a0f543f6441e4b069eaa95a5ee6d74115
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor.c
@@ -0,0 +1,82 @@
+// File under test pulse_processor.c
+#include "pulse_processor.h"
+
+#include "unity.h"
+
+#include "mock_lighthouse_calibration.h"
+#include "mock_pulse_processor_v1.h"
+#include "mock_pulse_processor_v2.h"
+
+void setUp(void) {
+}
+
+void testThatResultStructIsCleared() {
+  // Fixture
+  pulseProcessorResult_t angles;
+  angles.sensorMeasurementsLh1[2].baseStatonMeasurements[1].validCount = 2;
+  angles.sensorMeasurementsLh2[2].baseStatonMeasurements[1].validCount = 2;
+
+  // Test
+  pulseProcessorClear(&angles, 1);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh1[2].baseStatonMeasurements[1].validCount);
+  TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh2[2].baseStatonMeasurements[1].validCount);
+}
+
+void testThatTsDiffReturnsDifference() {
+  // Fixture
+  uint32_t a = 100;
+  uint32_t b = 60;
+  uint32_t expected = 40;
+
+  // Test
+  uint32_t actual = TS_DIFF(a, b);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsDiffReturnsDifferenceWhenClocksWrap() {
+  // Fixture
+  uint32_t a = 100;
+  uint32_t b = PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 20;
+  uint32_t expected = 120;
+
+  // Test
+  uint32_t actual = TS_DIFF(a, b);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsDiffReturnsDifferenceWhenDifferenceWraps() {
+  // Fixture
+  uint32_t a = 40;
+  uint32_t b = 60;
+  uint32_t expected = PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 20;
+
+  // Test
+  uint32_t actual = TS_DIFF(a, b);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsAbsDiffGreaterThan() {
+  // Fixture
+  // Test
+  // Assert
+  TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(100, 60, 200));
+  TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(60, 100, 200));
+  TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(100, 60, 40));
+  TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(60, 100, 40));
+
+  TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(100, 60, 39));
+  TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(60, 100, 39));
+  TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(100, 60, 1));
+  TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(60, 100, 1));
+
+  TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 10, 30, 100));
+  TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 10, 30, 1));
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v1.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v1.c
new file mode 100644
index 0000000000000000000000000000000000000000..b373a963aa3f95c4705944f392c63ee478cf488e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v1.c
@@ -0,0 +1,754 @@
+// File under test pulse_processor_v1.c
+#include "pulse_processor_v1.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_pulse_processor.h"
+#include "mock_ootx_decoder.h"
+#include "mock_lighthouse_calibration.h"
+
+#define FRAME_LENGTH 200000    // 8.333ms
+#define SWEEP_MAX_WIDTH 512    // 20us
+#define SWEEP_CENTER 96000     // 4ms
+#define SYNC_BASE_WIDTH 1375
+#define SYNC_DIVIDER 250
+#define SYNC_SEPARATION 10000
+#define MAX_FRAME_LENGTH_NOISE 200
+
+#define SYNC_X SYNC_BASE_WIDTH+(SYNC_DIVIDER * 0)
+#define SYNC_Y SYNC_BASE_WIDTH+(SYNC_DIVIDER * 1)
+#define SYNC_X_SKIP SYNC_BASE_WIDTH+(SYNC_DIVIDER * 4)
+#define SYNC_Y_SKIP SYNC_BASE_WIDTH+(SYNC_DIVIDER * 5)
+#define UN_IDENTFD (SWEEP_MAX_WIDTH + 7)
+#define SWEEP 256
+#define LONG_SWEEP 750
+
+// Helpers
+static void assertSyncTimeIsMultipleOfFrameLength(uint32_t expectedSyncTime, uint32_t actualSyncTime);
+static void limitTimestamps(pulseProcessorPulse_t history[]);
+
+// Functions under test
+int findSyncTime(const pulseProcessorPulse_t pulseHistory[], uint32_t *sync0Time);
+bool getSystemSyncTime(const uint32_t syncTimes[], size_t nSyncTimes, uint32_t *syncTime);
+int getBaseStationId(pulseProcessorV1_t *stateV1, unsigned int timestamp);
+bool isSweepActiveThisFrame(int width);
+bool isSync(pulseProcessorV1_t *stateV1, unsigned int timestamp);
+
+void setUp(void) {
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestations()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsMissaligned()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = 2*FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (-1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (-1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+SWEEP_CENTER},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromOneBasestation()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+0},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+SWEEP_CENTER},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(1, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithShortSpuriousSpike()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER+100},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithShortSpuriousSpikeBetweenSyncs()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+(SYNC_SEPARATION/2)},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithNoisyPulseLength()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X + 10,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP - 10, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP - 10,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y +  7,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP - 10, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP + 10,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP -  8, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X +  4,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithLongSweep()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = LONG_SWEEP,  .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = LONG_SWEEP,  .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithOneMissingMasterSync()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+SWEEP_CENTER},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithInvalidSyncSeparation()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+(SYNC_SEPARATION*2)},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithTimingNoise()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + 10 + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime -  3 + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime +  4 + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime +  7 + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime -  9 + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + 10 + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime - 10 + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime +  3 + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithTimestampWrapping()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH) - ((1*FRAME_LENGTH)+SYNC_SEPARATION);
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailesWhenReceivingAnUnidentifiedPulse()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = UN_IDENTFD,  .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailesWhenReceivingAnUnidentifiedPulseFirstInHistory()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = FRAME_LENGTH;
+  pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] =  {
+    {.width = UN_IDENTFD,  .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_Y,      .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+    {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+    {.width = SWEEP,       .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+    {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+    {.width = SYNC_X,      .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+  };
+  limitTimestamps(pulseHistory);
+
+  // Test
+  int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+
+
+
+
+void testThatGetSystemSyncTimeReturnsTheAverageForGoodSyncData()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = 2;
+  uint32_t syncTimes[8] = {1, 2, 3};
+  size_t nSyncTimes = 3;
+
+  // Test
+  bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_TRUE(found);
+  TEST_ASSERT_EQUAL(expectedSyncTime, actualSyncTime);
+}
+
+void testThatGetSystemSyncTimeHandlesTimestampsFromMultipleFrames()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = 2;
+  uint32_t syncTimes[8] = {1 + FRAME_LENGTH, 2 + (2*FRAME_LENGTH), 3, 2 + (2*FRAME_LENGTH)};
+  size_t nSyncTimes = 4;
+
+  // Test
+  bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_TRUE(found);
+  assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatGetSystemSyncTimeDoesNotReturnTimestampFor0Samples()
+{
+  // Fixture
+  uint32_t unused = 0;
+  uint32_t syncTimes[8];
+  size_t nSyncTimes = 0;
+
+  // Test
+  bool found = getSystemSyncTime(syncTimes, nSyncTimes, &unused);
+
+  // Assert
+  TEST_ASSERT_FALSE(found);
+}
+
+void testThatGetSystemSyncTimeDoesNotReturnTimestampIfTooMuchTimestampsSpread()
+{
+  // Fixture
+  uint32_t unused = 0;
+  uint32_t syncTimes[8] = {1, 900, 3};
+  size_t nSyncTimes = 3;
+
+  // Test
+  bool found = getSystemSyncTime(syncTimes, nSyncTimes, &unused);
+
+  // Assert
+  TEST_ASSERT_FALSE(found);
+}
+
+void testThatGetSystemSyncTimeHandlesTimestampsWithWrapping()
+{
+  // Fixture
+  uint32_t actualSyncTime = 0;
+  uint32_t expectedSyncTime = PULSE_PROCESSOR_TIMESTAMP_MAX;
+  uint32_t syncTimes[8] = {0, PULSE_PROCESSOR_TIMESTAMP_MAX - 1, PULSE_PROCESSOR_TIMESTAMP_MAX};
+  size_t nSyncTimes = 3;
+
+  // Test
+  bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+  // Assert
+  TEST_ASSERT_TRUE(found);
+  TEST_ASSERT_EQUAL(expectedSyncTime, actualSyncTime);
+}
+
+void testThatIsSyncFindsNextSync0()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsNextSync1()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsDistantSync1()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + (10*FRAME_LENGTH) + SYNC_SEPARATION;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncReturnFalseOnSweep()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SWEEP_CENTER;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_FALSE(result);
+}
+
+void testThatIsSyncFindsSync0WithSomeNoise()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH - 10;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsSync1WithSomeNoise()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION + 500;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+
+void testThatIsSyncFindsSync0WithWrapping()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = PULSE_PROCESSOR_TIMESTAMP_MAX - (FRAME_LENGTH/2);
+  uint32_t timestamp = (state.currentSync0 + FRAME_LENGTH) & PULSE_PROCESSOR_TIMESTAMP_MAX;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsSync1WithWrapping()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = PULSE_PROCESSOR_TIMESTAMP_MAX - (FRAME_LENGTH/2);;
+  uint32_t timestamp = (state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION) & PULSE_PROCESSOR_TIMESTAMP_MAX;;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncReturnsFalseIfSync1WasSync0AndTheRealSync0IsReceived()
+{
+  // Fixture
+  pulseProcessorV1_t state = {0};
+  state.currentSync0 = 0;
+  uint32_t timestamp = state.currentSync0 + FRAME_LENGTH - SYNC_SEPARATION;
+
+  // Test
+  bool result = isSync(&state, timestamp);
+
+  // Assert
+  TEST_ASSERT_FALSE(result);
+}
+
+bool isNewSync(uint32_t timestamp, uint32_t lastSync);
+
+void testThatIsNewSyncMatchesTimestampCloseAfter() {
+  // Fixture
+  uint32_t lastSync = 4711;
+  uint32_t timestamp = lastSync + 3;
+
+  // Test
+  bool actual = isNewSync(timestamp, lastSync);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncMatchesTimestampCloseBefore() {
+  // Fixture
+  uint32_t lastSync = 4711;
+  uint32_t timestamp = lastSync - 3;
+
+  // Test
+  bool actual = isNewSync(timestamp, lastSync);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncMatchesTimestampCloseBeforeWhenWrapping() {
+  // Fixture
+  uint32_t lastSync = 1;
+  uint32_t timestamp = (1 << PULSE_PROCESSOR_TIMESTAMP_BITWIDTH) - 1;
+
+  // Test
+  bool actual = isNewSync(timestamp, lastSync);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncDoesNotMatchTimestampTooFarAway() {
+  // Fixture
+  uint32_t lastSync = 4711;
+  uint32_t timestamp = lastSync + 30;
+
+  // Test
+  bool actual = isNewSync(timestamp, lastSync);
+
+  // Assert
+  TEST_ASSERT_TRUE(actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsOneFrameFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 0;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsSlightlyLessThanOneFrameFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH - 10;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 0;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsSlightlyMoreThanOneFrameFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH + 10;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 0;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSyncSeparationFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 1;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSlighlyLessThanSyncSeparationFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION - 10;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 1;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSlighlyMoreThanSyncSeparationFromPreviousSync0() {
+  // Fixture
+  unsigned int baseTime = 100000;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION + 10;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 1;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampWraps() {
+  // Fixture
+  unsigned int baseTime = -1;
+  unsigned int timeStamp = baseTime + FRAME_LENGTH;
+  pulseProcessorV1_t state = {.currentSync0 = baseTime};
+  int expected = 0;
+
+  // Test
+  int actual = getBaseStationId(&state, timeStamp);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatSweepIsActive() {
+  // Fixture
+  unsigned int width = SYNC_BASE_WIDTH;
+
+  // Test
+  int actual = isSweepActiveThisFrame(width);
+
+  // Assert
+  TEST_ASSERT_TRUE(actual);
+}
+
+void testThatSweepIsNotActive() {
+  // Fixture
+  unsigned int width = SYNC_BASE_WIDTH + SYNC_DIVIDER * 4;
+
+  // Test
+  int actual = isSweepActiveThisFrame(width);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+// Helpers
+
+static void assertSyncTimeIsMultipleOfFrameLength(uint32_t expectedSyncTime, uint32_t actualSyncTime)
+{
+  uint32_t diff = actualSyncTime - expectedSyncTime;
+
+  TEST_ASSERT_LESS_THAN_MESSAGE(MAX_FRAME_LENGTH_NOISE, diff % FRAME_LENGTH, "Sync time out of bound");
+}
+
+static void limitTimestamps(pulseProcessorPulse_t history[])
+{
+  for (int i=0; i<PULSE_PROCESSOR_HISTORY_LENGTH; i++) {
+    history[i].timestamp &= ((1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)-1);
+  }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v2.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v2.c
new file mode 100644
index 0000000000000000000000000000000000000000..3efff2184f5abb86b93103f5a4087007ba1ac37c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/lighthouse/test_pulse_processor_v2.c
@@ -0,0 +1,562 @@
+// File under test pulse_processor_v2.c
+#include "pulse_processor_v2.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_ootx_decoder.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_usec_time.h"
+#include "mock_pulse_processor.h"
+
+
+// Functions under test
+void clearWorkspace(pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+bool storePulse(const pulseProcessorFrame_t* frameData, pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+void augmentFramesInWorkspace(pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+bool processWorkspaceBlock(const pulseProcessorFrame_t slots[], pulseProcessorV2SweepBlock_t* block);
+bool isBlockPairGood(const pulseProcessorV2SweepBlock_t* latest, const pulseProcessorV2SweepBlock_t* storage);
+bool handleCalibrationData(pulseProcessor_t *state, const pulseProcessorFrame_t* frameData);
+
+// Helpers
+static void addDefaultFrames();
+static void setChannel(uint8_t channel);
+static void setOffsetBase(uint32_t ts_base);
+static void setUpOkBlocks(pulseProcessorV2SweepBlock_t* newBlock, pulseProcessorV2SweepBlock_t* storageBlock);
+static void addFrameToWs(uint8_t sensor, uint32_t timestamp, uint32_t offset, bool channelFound, uint8_t channel);
+static void setUpOotxDecoderProcessBitCallCounter();
+static void setUpSlowbitFrame();
+static void clearSlowbitState();
+
+static pulseProcessor_t state;
+static pulseProcessorV2PulseWorkspace_t ws;
+static pulseProcessorV2SweepBlock_t block;
+
+static pulseProcessorFrame_t slowbitFrame;
+static int nrOfCallsToOotxDecoderProcessBit;
+
+const uint32_t NO_OFFSET = 0;
+const uint32_t OFFSET_BASE = 100000;
+const uint32_t TIMESTAMP_BASE = 2000000;
+const uint32_t TIMESTAMP_STEP = 1000;
+
+const uint32_t A_TS = 4711;
+const uint32_t AN_OFFSET = 17;
+
+const uint32_t SB_CHANNEL = 1;
+const uint32_t SB_BIT = 1;
+
+// The order the sensors are hit by the beam
+const uint8_t SWEEP_SENS_0 = 3;
+const uint8_t SWEEP_SENS_1 = 1;
+const uint8_t SWEEP_SENS_2 = 0;
+const uint8_t SWEEP_SENS_3 = 2;
+
+void setUp(void) {
+    clearWorkspace(&ws);
+    addDefaultFrames();
+
+    block.channel = 0;
+
+    setUpSlowbitFrame();
+    clearSlowbitState();
+    nrOfCallsToOotxDecoderProcessBit = -1;
+}
+
+void testThatWorkspaceIsCleared() {
+    // Fixture
+
+    // Test
+    clearWorkspace(&ws);
+
+    // Assert
+    TEST_ASSERT_EQUAL_INT(0, ws.slotsUsed);
+}
+
+void testThatAPulseIsStoredInTheWorkspace() {
+    // Fixture
+    clearWorkspace(&ws);
+
+    pulseProcessorFrame_t frame;
+
+    uint8_t expected = 7;
+    frame.channel = expected;
+
+    // Test
+    bool actual = storePulse(&frame, &ws);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+    TEST_ASSERT_EQUAL_INT(1, ws.slotsUsed);
+    TEST_ASSERT_EQUAL_UINT8(expected, ws.slots[0].channel);
+}
+
+void testThatAPulseIsRejectedWhenWorkspaceIsFull() {
+    // Fixture
+    clearWorkspace(&ws);
+
+    pulseProcessorFrame_t frame;
+
+    for (int i = 0; i < PULSE_PROCESSOR_N_WORKSPACE; i++) {
+        bool actual = storePulse(&frame, &ws);
+        TEST_ASSERT_TRUE(actual);
+    }
+
+    // Test
+    bool actual = storePulse(&frame, &ws);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCleanFramesAreAugmented() {
+    // Fixture
+    uint8_t expectedChan1 = 2;
+    uint8_t expectedChan2 = 5;
+
+    clearWorkspace(&ws);
+
+    addFrameToWs(0, A_TS, NO_OFFSET, false, 0);
+    addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan1);
+    addFrameToWs(2, A_TS, NO_OFFSET, true, expectedChan1);
+    addFrameToWs(3, A_TS, NO_OFFSET, true, expectedChan1);
+
+    addFrameToWs(0, A_TS, AN_OFFSET, false, 0);
+    addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan2);
+    addFrameToWs(2, A_TS, AN_OFFSET, true, expectedChan2);
+    addFrameToWs(3, A_TS, AN_OFFSET, true, expectedChan2);
+
+    // Test
+    augmentFramesInWorkspace(&ws);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(expectedChan1, ws.slots[0].channel);
+    TEST_ASSERT_TRUE(ws.slots[0].channelFound);
+
+    TEST_ASSERT_EQUAL_UINT8(expectedChan2, ws.slots[4].channel);
+    TEST_ASSERT_TRUE(ws.slots[4].channelFound);
+}
+
+void testThatUnCleanFramesAreAugmented() {
+    // Fixture
+    uint8_t expectedChan1 = 2;
+    uint8_t expectedChan2 = 5;
+
+    clearWorkspace(&ws);
+
+    addFrameToWs(0, A_TS, AN_OFFSET, true, 1);
+    addFrameToWs(1, A_TS, AN_OFFSET, false, 0);
+    addFrameToWs(2, A_TS, AN_OFFSET, true, expectedChan1);
+    addFrameToWs(3, A_TS, AN_OFFSET, false, 0);
+
+    addFrameToWs(0, A_TS, AN_OFFSET, false, 0);
+    addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan2);
+    addFrameToWs(2, A_TS, AN_OFFSET, true, 1);
+    addFrameToWs(3, A_TS, AN_OFFSET, false, 0);
+
+    // Test
+    augmentFramesInWorkspace(&ws);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT8(expectedChan1, ws.slots[1].channel);
+    TEST_ASSERT_FALSE(ws.slots[3].channelFound);
+    TEST_ASSERT_EQUAL_UINT8(expectedChan2, ws.slots[4].channel);
+    TEST_ASSERT_FALSE(ws.slots[7].channelFound);
+}
+
+void testThatProcessBlockRejectsMissingSensors() {
+    // Fixture
+    ws.slots[2].sensor = SWEEP_SENS_0;
+
+    // Test
+    bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockFindsChannel() {
+    // Fixture
+    uint8_t expected = 3;
+    setChannel(expected);
+
+    // Test
+    bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    uint8_t actual = block.channel;
+    TEST_ASSERT_EQUAL_UINT8(expected, actual);
+    TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockFindsChannelWhenSomeChannelsAreMissing() {
+    // Fixture
+    uint8_t expected = 3;
+    setChannel(expected);
+    ws.slots[2].channelFound = false;
+    ws.slots[3].channelFound = false;
+
+    // Test
+    bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    uint8_t actual = block.channel;
+    TEST_ASSERT_EQUAL_UINT8(expected, actual);
+    TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockRejectsAllChannelsMissing() {
+    // Fixture
+    ws.slots[0].channelFound = false;
+    ws.slots[1].channelFound = false;
+    ws.slots[2].channelFound = false;
+    ws.slots[3].channelFound = false;
+
+    // Test
+    bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMultipleChannels() {
+    // Fixture
+    uint8_t channel = 3;
+
+    setChannel(channel);
+    ws.slots[0].channel = channel + 1;
+
+    // Test
+    bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMisissingOffset() {
+    // Fixture
+    ws.slots[1].offset = NO_OFFSET;
+
+    // Test
+    bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMultipleOffsets() {
+    // Fixture
+    ws.slots[0].offset = OFFSET_BASE;
+
+    // Test
+    bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockSetsOffsets() {
+    // Fixture
+    setOffsetBase(TIMESTAMP_BASE);
+
+    // Test
+    bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP, block.offset[SWEEP_SENS_0]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE, block.offset[SWEEP_SENS_1]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE - TIMESTAMP_STEP, block.offset[SWEEP_SENS_2]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP * 2, block.offset[SWEEP_SENS_3]);
+
+    TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockSetsOffsetsWhenTimeStampWraps() {
+    // Fixture
+    setOffsetBase(0x00ffff00);
+
+    // Test
+    bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP, block.offset[SWEEP_SENS_0]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE, block.offset[SWEEP_SENS_1]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE - TIMESTAMP_STEP, block.offset[SWEEP_SENS_2]);
+    TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP * 2, block.offset[SWEEP_SENS_3]);
+
+    TEST_ASSERT_TRUE(ok);
+}
+
+
+void testThatProcessBlockSetsTimestampToStartOfRotation() {
+    // Fixture
+    setOffsetBase(TIMESTAMP_BASE);
+    uint32_t expected = TIMESTAMP_BASE - OFFSET_BASE;
+
+    // Test
+    bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+    // Assert
+    uint32_t actual = block.timestamp0;
+    TEST_ASSERT_EQUAL_UINT32(expected, actual);
+    TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockPairAcceptBlocks() {
+    // Fixture
+    pulseProcessorV2SweepBlock_t newBlock;
+    pulseProcessorV2SweepBlock_t storageBlock;
+
+    setUpOkBlocks(&newBlock, &storageBlock);
+
+    // Test
+    bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+}
+
+void testThatProcessBlockPairRejectsBlocksWithDifferentChannels() {
+    // Fixture
+    pulseProcessorV2SweepBlock_t newBlock;
+    pulseProcessorV2SweepBlock_t storageBlock;
+
+    setUpOkBlocks(&newBlock, &storageBlock);
+
+    newBlock.channel = 0;
+
+    // Test
+    bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockPairRejectsBlocksWhenTooLongApart() {
+    // Fixture
+    pulseProcessorV2SweepBlock_t newBlock;
+    pulseProcessorV2SweepBlock_t storageBlock;
+
+    setUpOkBlocks(&newBlock, &storageBlock);
+
+    newBlock.timestamp0 = newBlock.timestamp0 + 20;
+
+    // Test
+    bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatSlowBitIsProcessed() {
+    // Fixture
+    ootxDecoderProcessBit_ExpectAndReturn(&state.ootxDecoder[SB_CHANNEL], SB_BIT, false);
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    // Validated in mock
+}
+
+void testThatSlowBitIsNotProcessedIfChannelIsMissing() {
+    // Fixture
+    slowbitFrame.channelFound = false;
+
+    setUpOotxDecoderProcessBitCallCounter();
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatSlowBitIsNotProcessedIfChannelIsOutOfBounds() {
+    // Fixture
+    slowbitFrame.channel = PULSE_PROCESSOR_N_BASE_STATIONS + 1;
+
+    setUpOotxDecoderProcessBitCallCounter();
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatSlowBitIsNotProcessedIfOffsetIsMissing() {
+    // Fixture
+    slowbitFrame.offset = NO_OFFSET;
+
+    setUpOotxDecoderProcessBitCallCounter();
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatMoreThanOneSlowBitIsProcessed() {
+    // Fixture
+    setUpOotxDecoderProcessBitCallCounter();
+
+    uint32_t timestamp0 = 1000000;
+    slowbitFrame.offset = 10000;
+
+    // First Bit
+    slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset;
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Second sweep
+    slowbitFrame.timestamp = slowbitFrame.timestamp + 959000 / 2;
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(2, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatOnlyOneSlowBitPerRevolutionIsProcessed1() {
+    // Fixture
+    setUpOotxDecoderProcessBitCallCounter();
+
+    uint32_t timestamp0 = 1000000;
+    // First Sweep
+    slowbitFrame.offset = 10000;
+    slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset + 3;
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Second sweep
+    slowbitFrame.offset = 200000;
+    slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset - 2;
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(1, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatOnlyOneSlowBitsPerRevolutionIsProcessed2() {
+    // Fixture
+    setUpOotxDecoderProcessBitCallCounter();
+
+    uint32_t timestamp0 = 1000000;
+    // First Sweep
+    slowbitFrame.offset = 10000;
+    slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset - 3;
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Second sweep
+    slowbitFrame.offset = 200000;
+    slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset + 2;
+
+    // Test
+    handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_EQUAL(1, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatFullSlowbitMessageIsReported() {
+    // Fixture
+    ootxDecoderProcessBit_IgnoreAndReturn(true);
+
+    // Test
+    bool actual = handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+}
+
+void testThatNonFullSlowbitMessageIsNotReported() {
+    // Fixture
+    ootxDecoderProcessBit_IgnoreAndReturn(false);
+
+    // Test
+    bool actual = handleCalibrationData(&state, &slowbitFrame);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+
+// Helpers ------------------------------------------------
+
+static void addFrameToWs(uint8_t sensor, uint32_t timestamp, uint32_t offset, bool channelFound, uint8_t channel) {
+    pulseProcessorFrame_t frame;
+
+    frame.sensor = sensor;
+    frame.timestamp = timestamp;
+    frame.offset = offset;
+    frame.channelFound = channelFound;
+    frame.channel = channel;
+
+    storePulse(&frame, &ws);
+}
+
+static void addDefaultFrames() {
+    addFrameToWs(SWEEP_SENS_0, TIMESTAMP_STEP * 0, NO_OFFSET, true, 3);
+    addFrameToWs(SWEEP_SENS_1, TIMESTAMP_STEP * 1, OFFSET_BASE, true, 3);
+    addFrameToWs(SWEEP_SENS_2, TIMESTAMP_STEP * 2, NO_OFFSET, true, 3);
+    addFrameToWs(SWEEP_SENS_3, TIMESTAMP_STEP * 3, NO_OFFSET, true, 3);
+}
+
+static void setChannel(uint8_t channel) {
+    for (int i = 0; i < PULSE_PROCESSOR_N_SENSORS; i++) {
+        ws.slots[i].channel = channel;
+        ws.slots[i].channelFound = true;
+    }
+}
+
+static void setOffsetBase(uint32_t ts_base) {
+    ws.slots[0].timestamp = ts_base + TIMESTAMP_STEP * 1;
+    ws.slots[0].offset = NO_OFFSET;
+
+    ws.slots[1].timestamp = ts_base;
+    ws.slots[1].offset = OFFSET_BASE;
+
+    ws.slots[2].timestamp = ts_base - TIMESTAMP_STEP * 1;
+    ws.slots[2].offset = NO_OFFSET;
+
+    ws.slots[3].timestamp = ts_base + TIMESTAMP_STEP * 2;
+    ws.slots[3].offset = NO_OFFSET;
+}
+
+static void setUpOkBlocks(pulseProcessorV2SweepBlock_t* newBlock, pulseProcessorV2SweepBlock_t* storageBlock) {
+    storageBlock->channel = 1;
+    storageBlock->timestamp0 = 1000000;
+
+    newBlock->channel = 1;
+    newBlock->timestamp0 = 1000003;
+}
+
+
+static bool ootxDecoderProcessBitCallback(ootxDecoderState_t* state, int data, int cmock_num_calls) {
+    nrOfCallsToOotxDecoderProcessBit++;
+    return false;
+}
+
+static void setUpOotxDecoderProcessBitCallCounter() {
+    nrOfCallsToOotxDecoderProcessBit = 0;
+    ootxDecoderProcessBit_StubWithCallback(ootxDecoderProcessBitCallback);
+}
+
+static void setUpSlowbitFrame(){
+    slowbitFrame.timestamp = 1000000;
+    slowbitFrame.offset = 100000;
+    slowbitFrame.channel = SB_CHANNEL;
+    slowbitFrame.slowbit = SB_BIT;
+    slowbitFrame.channelFound = true;
+}
+
+static void clearSlowbitState() {
+    for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+        state.v2.ootxTimestamps[i] = 0;
+        state.bsCalibration[i].valid = false;
+    }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/tdoa/test_tdoa_storage.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/tdoa/test_tdoa_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..bcfd6058015674ff8e257cc885f5b52e07883a7d
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/tdoa/test_tdoa_storage.c
@@ -0,0 +1,696 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * TestTdoaStorage.c - Unit tests for tdoa storage functions
+ */
+
+// File under test
+#include "tdoaStorage.h"
+
+#include "unity.h"
+
+#include <string.h>
+#include "mock_clockCorrectionEngine.h"
+
+
+#define TOF_VALIDITY_PERIOD (2 * 1000)
+#define REMOTE_DATA_VALIDITY_PERIOD 30
+#define ANCHOR_POSITION_VALIDITY_PERIOD (2 * 1000)
+
+
+static tdaoAnchorInfoArray_t storage;
+static void fixtureSetRemoteRxTime(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t remoteRxTime, const uint8_t seqNr);
+static void fixtureSetTof(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t tof);
+
+void setUp(void) {
+  tdoaStorageInitialize(storage);
+}
+
+void testThatCurrentTimeIsSetInContextForGet() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t expectedTime = 123;
+
+  // Test
+  tdoaAnchorContext_t result;
+  tdoaStorageGetAnchorCtx(storage, anchor, expectedTime, &result);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT8(expectedTime, result.currentTime_ms);
+}
+
+
+void testThatCurrentTimeIsSetInContextForGetCreate() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t expectedTime = 123;
+
+  // Test
+  tdoaAnchorContext_t result;
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, expectedTime, &result);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT8(expectedTime, result.currentTime_ms);
+}
+
+
+void testThatNoAnchorIsReturnedWhenItDoesNotExistInStorage() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t currentTime = 123;
+
+  // Test
+  tdoaAnchorContext_t result;
+  bool actual = tdoaStorageGetAnchorCtx(storage, anchor, currentTime, &result);
+
+  // Assert
+  // False indicates that the anchor did not exist
+  TEST_ASSERT_FALSE(actual);
+  TEST_ASSERT_NULL(result.anchorInfo);
+}
+
+
+void testThatANewAnchorContextIsReturnedWhenItDoesNotExistInStorage() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t currentTime = 123;
+
+  // Test
+  tdoaAnchorContext_t result;
+  bool actual = tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &result);
+
+  // Assert
+  // False indicates that the anchor did not exist
+  TEST_ASSERT_FALSE(actual);
+  TEST_ASSERT_NOT_NULL(result.anchorInfo);
+}
+
+
+void testThatTheSameAnchorContextIsReturnedWhenItAlreadyExistsInStorageForGet() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t currentTime = 123;
+
+  // Make sure the anchor exists
+  tdoaAnchorContext_t firstContext;
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &firstContext);
+
+  // Test
+  tdoaAnchorContext_t result;
+  bool actual = tdoaStorageGetAnchorCtx(storage, anchor, currentTime, &result);
+
+  // Assert
+  // False indicates that the anchor did exist
+  TEST_ASSERT_TRUE(actual);
+  TEST_ASSERT_EQUAL_PTR(firstContext.anchorInfo, result.anchorInfo);
+}
+
+
+void testThatTheSameAnchorContextIsReturnedWhenItAlreadyExistsInStorageForGetCreate() {
+  // Fixture
+  uint8_t anchor = 17;
+  uint32_t currentTime = 123;
+
+  // Make sure the anchor exists
+  tdoaAnchorContext_t firstContext;
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &firstContext);
+
+  // Test
+  tdoaAnchorContext_t result;
+  bool actual = tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &result);
+
+  // Assert
+  // False indicates that the anchor did exist
+  TEST_ASSERT_TRUE(actual);
+  TEST_ASSERT_EQUAL_PTR(firstContext.anchorInfo, result.anchorInfo);
+}
+
+
+void testThatTheOldestAnchorContextIsReplacedWhenStorageIsFull() {
+  // Fixture
+  const uint32_t oldestAnchorTime = 900;
+  const uint32_t baseAnchorTime = 1000;
+  const uint32_t currentTime = 2000;
+
+  uint8_t newAnchor = ANCHOR_STORAGE_COUNT;
+  uint8_t oldestAnchor = 4;
+  TEST_ASSERT_TRUE(oldestAnchor < ANCHOR_STORAGE_COUNT);
+
+  // Make sure the storage is full with increasing update times, set the update
+  // time for one slot to be oldest
+  tdoaAnchorContext_t context;
+  for (int id = 0; id < ANCHOR_STORAGE_COUNT; id++) {
+    tdoaStorageGetCreateAnchorCtx(storage, id, currentTime, &context);
+
+    uint32_t updateTime = baseAnchorTime + id;
+    if (id == oldestAnchor) {
+      updateTime = oldestAnchorTime;
+    }
+
+    context.currentTime_ms = updateTime;
+    tdoaStorageSetRxTxData(&context, 0, 0, 0);
+  }
+
+  // Test
+  tdoaAnchorContext_t result;
+  bool actual = tdoaStorageGetCreateAnchorCtx(storage, newAnchor, currentTime, &result);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+  TEST_ASSERT_TRUE(tdoaStorageIsAnchorInStorage(storage, newAnchor));
+  TEST_ASSERT_FALSE(tdoaStorageIsAnchorInStorage(storage, oldestAnchor));
+}
+
+
+void testThatAListOfAnchorIdsIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  uint32_t currentTime = 1234;
+
+  uint8_t expectedId0 = 17;
+  uint8_t expectedId1 = 47;
+  uint8_t expectedId2 = 11;
+
+  uint8_t expectedCount = 3;
+
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId1, currentTime, &context);
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId2, currentTime, &context);
+
+  uint8_t unorderedAnchorList[10];
+
+  // Test
+  uint8_t actualCount = tdoaStorageGetListOfAnchorIds(storage, unorderedAnchorList, 10);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+  TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+  TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+  TEST_ASSERT_EQUAL_INT8(expectedId2, unorderedAnchorList[2]);
+}
+
+void testThatAListOfAnchorIdsIsReturnedButNotMoreThanTheListLength() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  uint32_t currentTime = 1234;
+
+  uint8_t expectedId0 = 17;
+  uint8_t expectedId1 = 47;
+  uint8_t expectedId2 = 11;
+
+  uint8_t expectedCount = 2;
+
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId1, currentTime, &context);
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId2, currentTime, &context);
+
+  uint8_t unorderedAnchorList[10];
+
+  // Test
+  uint8_t actualCount = tdoaStorageGetListOfAnchorIds(storage, unorderedAnchorList, expectedCount);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+  TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+  TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+}
+
+
+void testThatAListOfActiveAnchorIdsIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  uint32_t oldTime = 1234; // Not valid
+  // Validity time is 2000 ms
+  uint32_t recentTime = 9000; // Still valid
+  uint32_t currentTime = 10000;
+
+
+  uint8_t expectedId0 = 17;
+  uint8_t expectedId1 = 47;
+  uint8_t otherId = 11;
+
+  uint8_t expectedCount = 2;
+
+  tdoaStorageGetCreateAnchorCtx(storage, otherId, oldTime, &context);
+  tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId0, recentTime, &context);
+  tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId1, recentTime, &context);
+  tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+  uint8_t unorderedAnchorList[10];
+
+  // Test
+  uint8_t actualCount = tdoaStorageGetListOfActiveAnchorIds(storage, unorderedAnchorList, 10, currentTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+  TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+  TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+}
+
+
+void testThatAListOfActiveAnchorIdsIsReturnedButNotMoreThanTheListLength() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  uint32_t currentTime = 10000;
+
+
+  uint8_t expectedId0 = 17;
+  uint8_t otherId = 11;
+
+  uint8_t expectedCount = 1;
+
+  tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+  tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+  tdoaStorageGetCreateAnchorCtx(storage, otherId, currentTime, &context);
+  tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+  uint8_t unorderedAnchorList[10];
+
+  // Test
+  uint8_t actualCount = tdoaStorageGetListOfActiveAnchorIds(storage, unorderedAnchorList, expectedCount, currentTime);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+  TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+}
+
+
+void testThatAnchorPositionIsSetAndGet() {
+  // Fixture
+  float expectedX = 1.0;
+  float expectedY = 2.0;
+  float expectedZ = 3.0;
+  uint32_t expectedTime = 1234;
+
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, expectedTime, &context);
+
+  tdoaStorageSetAnchorPosition(&context, expectedX, expectedY, expectedZ);
+
+  uint32_t now = 2345;
+  tdoaStorageGetAnchorCtx(storage, 0, now, &context);
+  point_t actual;
+
+  // Test
+  bool isValid = tdoaStorageGetAnchorPosition(&context, &actual);
+
+  // Assert
+  TEST_ASSERT_TRUE(isValid);
+  TEST_ASSERT_EQUAL_FLOAT(expectedX, actual.x);
+  TEST_ASSERT_EQUAL_FLOAT(expectedY, actual.y);
+  TEST_ASSERT_EQUAL_FLOAT(expectedZ, actual.z);
+  TEST_ASSERT_EQUAL_UINT32(expectedTime, actual.timestamp);
+}
+
+
+void testThatAnchorPositionIsNotReturnedWhenTooOld() {
+  // Fixture
+  float x = 1.0;
+  float y = 2.0;
+  float z = 3.0;
+  uint32_t now = 1234;
+
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, now, &context);
+
+  tdoaStorageSetAnchorPosition(&context, x, y, z);
+
+  point_t voidResult;
+
+  // Test
+  context.currentTime_ms += ANCHOR_POSITION_VALIDITY_PERIOD;
+  bool isValid = tdoaStorageGetAnchorPosition(&context, &voidResult);
+
+  // Assert
+  TEST_ASSERT_FALSE(isValid);
+}
+
+
+void testThatRxTxDataIsSet() {
+  // Fixture
+  uint32_t expectedUpdateTime = 1234;
+  int64_t expectedRxTime = 4747474747;
+  int64_t expectedTxTime = 1111111111;
+  uint8_t expectedSeqNr = 17;
+
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, expectedUpdateTime, &context);
+
+  // Test
+  tdoaStorageSetRxTxData(&context, expectedRxTime, expectedTxTime, expectedSeqNr);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(expectedUpdateTime, tdoaStorageGetLastUpdateTime(&context));
+  TEST_ASSERT_EQUAL_UINT64(expectedRxTime, tdoaStorageGetRxTime(&context));
+  TEST_ASSERT_EQUAL_UINT64(expectedTxTime, tdoaStorageGetTxTime(&context));
+  TEST_ASSERT_EQUAL_UINT64(expectedSeqNr, tdoaStorageGetSeqNr(&context));
+}
+
+
+void testThatClockCorrectionIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+  double expected = 123.456;
+  clockCorrectionStorage_t* clockCorrectionStorage = tdoaStorageGetClockCorrectionStorage(&context);
+  clockCorrectionEngineGet_ExpectAndReturn(clockCorrectionStorage, expected);
+
+  // Test
+  double actual = tdoaStorageGetClockCorrection(&context);
+
+  // Assert
+  TEST_ASSERT_EQUAL_DOUBLE(expected, actual);
+}
+
+
+void testThatRemoteRxTimeIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+  const uint8_t seqNr = 13;
+  const uint8_t remoteAnchor = 17;
+  const int64_t expectedRemoteRxTime = 4711;
+  tdoaStorageSetRemoteRxTime(&context, remoteAnchor, expectedRemoteRxTime, seqNr);
+
+  // Test
+  int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsNotReturnedWhenOutdated() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint32_t storageTime = 1117;
+  const uint32_t expiryTime = storageTime + REMOTE_DATA_VALIDITY_PERIOD;
+  const uint8_t anchor = 0;
+
+
+  const uint8_t seqNr = 13;
+  const uint8_t remoteAnchor = 17;
+  fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, 4711, seqNr);
+
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, expiryTime, &context);
+  const int64_t expectedRemoteRxTime = 0;
+
+  // Test
+  int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsNotReturnedForUnknownRemoteAnchor() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+  const uint8_t unkownRemoteAnchor = 17;
+  const int64_t expectedRemoteRxTime = 0;
+
+  // Test
+  int64_t actual = tdoaStorageGetRemoteRxTime(&context, unkownRemoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsOverwrittenWhenSetWithTheSameRemoteId() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+  const uint8_t seqNr = 13;
+  const uint8_t remoteAnchor = 17;
+  const uint32_t storageTime = 123;
+  const uint8_t anchor = 3;
+
+  const int64_t firstRemoteRxTime = 1234;
+  fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+
+  const int64_t expectedRemoteRxTime = 4711;
+  fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, expectedRemoteRxTime, seqNr);
+
+  // Test
+  int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeReplacesTheOldestEntryWhenStorageIsFull() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 17;
+  const uint8_t seqNr = 13;
+
+  // Fill the storage (for one anchor) with remote data. Make sure one entry is
+  // older than all the rest
+  const uint8_t oldestRemoteAnchor = 3;
+  TEST_ASSERT_TRUE(oldestRemoteAnchor < REMOTE_ANCHOR_DATA_COUNT);
+  const uint32_t oldestStorageTime = 1117;
+
+  const uint32_t newerStorageTime = oldestStorageTime + 1;
+
+  const int64_t firstRemoteRxTime = 1234;
+  for (int remoteAnchor = 0; remoteAnchor < REMOTE_ANCHOR_DATA_COUNT; remoteAnchor++) {
+    if (remoteAnchor == oldestRemoteAnchor) {
+      fixtureSetRemoteRxTime(&context, anchor, oldestStorageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+    } else {
+      fixtureSetRemoteRxTime(&context, anchor, newerStorageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+    }
+  }
+
+  // Test
+  // Set data for one more remote anchor that should replace the oldest in storage
+  const uint8_t verificationRemoteAnchor = REMOTE_ANCHOR_DATA_COUNT;
+  const uint64_t verificationRemoteRxTime = 6543;
+  const uint32_t verificationStorageTime = newerStorageTime + 1;
+  fixtureSetRemoteRxTime(&context, anchor, verificationStorageTime, verificationRemoteAnchor, verificationRemoteRxTime, seqNr);
+
+  // Assert
+  const int64_t actualVerification = tdoaStorageGetRemoteRxTime(&context, verificationRemoteAnchor);
+  TEST_ASSERT_EQUAL_INT64(verificationRemoteRxTime, actualVerification);
+
+  const int64_t actualReplaced = tdoaStorageGetRemoteRxTime(&context, oldestRemoteAnchor);
+  TEST_ASSERT_EQUAL_INT64(0, actualReplaced);
+}
+
+void testThatRemoteRxTimeAndSequenceNumberIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+  const uint8_t remoteAnchor = 17;
+  const uint8_t expectedRemoteSeqNr = 13;
+  const int64_t expectedRemoteRxTime = 4711;
+  tdoaStorageSetRemoteRxTime(&context, remoteAnchor, expectedRemoteRxTime, expectedRemoteSeqNr);
+
+  // Test
+  int64_t actualRxTime = 0l;
+  uint8_t actualSeqNr = 0;
+  bool actual = tdoaStorageGetRemoteRxTimeSeqNr(&context, remoteAnchor, &actualRxTime, &actualSeqNr);
+
+  // Assert
+  TEST_ASSERT_TRUE(actual);
+  TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actualRxTime);
+  TEST_ASSERT_EQUAL_INT8(expectedRemoteSeqNr, actualSeqNr);
+}
+
+void testThatRemoteRxTimeAndSequenceNumberIsNotReturnedWhenNotInList() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+  const uint8_t remoteAnchor = 17;
+
+  // Test
+  int64_t actualRxTime = 0l;
+  uint8_t actualSeqNr = 0;
+  bool actual = tdoaStorageGetRemoteRxTimeSeqNr(&context, remoteAnchor, &actualRxTime, &actualSeqNr);
+
+  // Assert
+  TEST_ASSERT_FALSE(actual);
+}
+
+void testThatAListOfSequenceNumbersAndIdsOfRemoteAnchorsIsReturned() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 5;
+
+  // Add remote data that is too old
+  const uint8_t oldRemoteAncor = 3;
+  const uint8_t oldSeqNr = 100;
+  const uint32_t oldStorageTime = 1117;
+  const uint64_t someRemoteRxTime = 1234;
+
+  fixtureSetRemoteRxTime(&context, anchor, oldStorageTime, oldRemoteAncor, someRemoteRxTime, oldSeqNr);
+
+  // Add remote data for two more anchors that are not too old
+  const uint8_t activeRemoteAnchor0 = 11;
+  const uint8_t activeSeqNr0 = 101;
+  const uint8_t activeRemoteAnchor1 = 17;
+  const uint8_t activeSeqNr1 = 102;
+  const uint32_t activeStorageTime = oldStorageTime + 1;
+
+  fixtureSetRemoteRxTime(&context, anchor, activeStorageTime, activeRemoteAnchor0, someRemoteRxTime, activeSeqNr0);
+  fixtureSetRemoteRxTime(&context, anchor, activeStorageTime, activeRemoteAnchor1, someRemoteRxTime, activeSeqNr1);
+
+  const uint32_t currentTime = oldStorageTime + REMOTE_DATA_VALIDITY_PERIOD;
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &context);
+
+  int actualRemoteCount;
+  uint8_t actualSequenceNumbers[REMOTE_ANCHOR_DATA_COUNT];
+  uint8_t actualIds[REMOTE_ANCHOR_DATA_COUNT];
+
+  // Test
+  tdoaStorageGetRemoteSeqNrList(&context, &actualRemoteCount, actualSequenceNumbers, actualIds);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT32(2, actualRemoteCount);
+
+  TEST_ASSERT_EQUAL_INT8(actualIds[0], activeRemoteAnchor0);
+  TEST_ASSERT_EQUAL_INT8(actualSequenceNumbers[0], activeSeqNr0);
+
+  TEST_ASSERT_EQUAL_INT8(actualIds[1], activeRemoteAnchor1);
+  TEST_ASSERT_EQUAL_INT8(actualSequenceNumbers[1], activeSeqNr1);
+}
+
+
+void testThatNoTimeOfFlightIsReturnedWhenRemoteAnchorIsNotInStorage() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 5;
+  const uint32_t storageTime = 1234;
+  const uint8_t remoteAnchor = 17;
+  const uint64_t expected = 0;
+
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, &context);
+
+  // Test
+  int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTimeOfFlightIsReturnedWhenSet() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 5;
+  const uint32_t storageTime = 1234;
+  const uint8_t remoteAnchor = 17;
+  const uint64_t expected = 65432;
+
+  fixtureSetTof(&context, anchor, storageTime, remoteAnchor, expected);
+
+  // Test
+  int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTimeOfFlightIsReturnedWhenSetASecondTime() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 5;
+  const uint32_t storageTime = 1234;
+  const uint8_t remoteAnchor = 17;
+
+  const uint64_t firstTof = 777777;
+  const uint64_t expected = 65432;
+
+  fixtureSetTof(&context, anchor, storageTime, remoteAnchor, firstTof);
+  fixtureSetTof(&context, anchor, storageTime, remoteAnchor, expected);
+
+  // Test
+  int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTofReplacesTheOldestEntryWhenStorageIsFull() {
+  // Fixture
+  tdoaAnchorContext_t context;
+  const uint8_t anchor = 17;
+
+  // Fill the storage (for one anchor) with Tofsa. Make sure one entry is
+  // older than all the rest
+  const uint8_t oldestRemoteAnchor = 3;
+  TEST_ASSERT_TRUE(oldestRemoteAnchor < TOF_PER_ANCHOR_COUNT);
+  const uint32_t oldestStorageTime = 1117;
+
+  const uint32_t newerStorageTime = oldestStorageTime + 1;
+
+  const int64_t firstTof = 1234;
+  for (int remoteAnchor = 0; remoteAnchor < TOF_PER_ANCHOR_COUNT; remoteAnchor++) {
+    if (remoteAnchor == oldestRemoteAnchor) {
+      fixtureSetTof(&context, anchor, oldestStorageTime, remoteAnchor, firstTof);
+    } else {
+      fixtureSetTof(&context, anchor, newerStorageTime, remoteAnchor, firstTof);
+    }
+  }
+
+  // Test
+  // Set Tof for one more remote anchor that should replace the oldest in storage
+  const uint8_t verificationRemoteAnchor = TOF_PER_ANCHOR_COUNT;
+  const uint64_t verificationTof = 6543;
+  const uint32_t verificationStorageTime = newerStorageTime + 1;
+  fixtureSetTof(&context, anchor, verificationStorageTime, verificationRemoteAnchor, verificationTof);
+
+  // Assert
+  const int64_t actualVerification = tdoaStorageGetTimeOfFlight(&context, verificationRemoteAnchor);
+  TEST_ASSERT_EQUAL_INT64(verificationTof, actualVerification);
+
+  const int64_t actualReplaced = tdoaStorageGetTimeOfFlight(&context, oldestRemoteAnchor);
+  TEST_ASSERT_EQUAL_INT64(0, actualReplaced);
+}
+
+
+// Helpers ///////////////
+
+static void fixtureSetRemoteRxTime(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t remoteRxTime, const uint8_t seqNr) {
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, context);
+  tdoaStorageSetRemoteRxTime(context, remoteAnchor, remoteRxTime, seqNr);
+}
+
+static void fixtureSetTof(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t tof) {
+  tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, context);
+  tdoaStorageSetTimeOfFlight(context, remoteAnchor, tof);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_cf_math.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_cf_math.c
new file mode 100644
index 0000000000000000000000000000000000000000..5f48fb008a5fef724e90fbe8bcd0dc1de1b1ea92
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_cf_math.c
@@ -0,0 +1,58 @@
+// File under test
+#include "cf_math.h"
+#include "unity.h"
+
+void testThatClip1ReturnsValueInRange() {
+  // Fixture
+  float expected = 0.123f;
+
+  // Test
+  float actual = clip1(expected);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatClip1Returns1ForLargeValues() {
+    // Fixture
+    float expected = 1.0f;
+
+    // Test
+    float actual = clip1(2.0f);
+
+    // Assert
+    TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatClip1ReturnsMinus1ForNegativeLargeValues() {
+    // Fixture
+    float expected = -1.0f;
+
+    // Test
+    float actual = clip1(-2.0f);
+
+    // Assert
+    TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatLimPosReturnsValueInRange() {
+    // Fixture
+    float expected = 1.0f;
+
+    // Test
+    float actual = limPos(expected);
+
+    // Assert
+    TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatLimPosReturnsZeroForNegativeValues() {
+    // Fixture
+    float expected = 0.0f;
+
+    // Test
+    float actual = limPos(-1.0f);
+
+    // Assert
+    TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_clock_correction.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_clock_correction.c
new file mode 100644
index 0000000000000000000000000000000000000000..1442e9c88362b2909f229e974f3c8acfc3252842
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_clock_correction.c
@@ -0,0 +1,202 @@
+// FIle under test
+#include "clockCorrectionEngine.h"
+
+#include "unity.h"
+
+#define MAX_CLOCK_DEVIATION_SPEC 10e-6
+#define CLOCK_CORRECTION_SPEC_MAX (1.0 + MAX_CLOCK_DEVIATION_SPEC * 2)
+
+#define CLOCK_CORRECTION_ACCEPTED_NOISE 0.03e-6
+#define CLOCK_CORRECTION_FILTER 0.1
+#define CLOCK_CORRECTION_BUCKET_MAX 4
+
+void setUp(void) {
+}
+
+void tearDown(void) {
+}
+
+void testGetClockCorrection() {
+  // Fixture
+  const double clockCorrection = 12345.6789;
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = 0
+  };
+
+  // Test
+  const double result = clockCorrectionEngineGet(&clockCorrectionStorage);
+
+  // Assert
+  const double expectedResult = clockCorrection;
+  TEST_ASSERT_EQUAL_DOUBLE(expectedResult, result);
+}
+
+void testCalculateClockCorrectionWithValidInputDataWithoutWrapAround() {
+  // Fixture
+  const double clockCorrection = 1.0057;
+  const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+  const uint64_t difference_in_cl_x = 10000;
+
+  const uint64_t old_t_in_cl_x = 1000;
+  const uint64_t new_t_in_cl_x = old_t_in_cl_x + difference_in_cl_x; // Does not wrap around
+  const uint64_t old_t_in_cl_reference = 56789;
+  const uint64_t new_t_in_cl_reference = old_t_in_cl_reference + clockCorrection * difference_in_cl_x; // Does not wrap around
+
+  // Test
+  const double result = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrection;
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result);
+}
+
+void testCalculateClockCorrectionWithValidInputDataWithWrapAround() {
+  // Fixture
+  const double clockCorrection = 1.0057;
+  const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+  const uint64_t difference_in_cl_x = 10000;
+
+  const uint64_t old_t_in_cl_x = mask - difference_in_cl_x / 2;
+  const uint64_t new_t_in_cl_x = (old_t_in_cl_x + difference_in_cl_x) & mask; // Wraps around
+  const uint64_t old_t_in_cl_reference = 56789;
+  const uint64_t new_t_in_cl_reference = old_t_in_cl_reference + clockCorrection * difference_in_cl_x; // Does not wrap around
+
+  // Test
+  const double result1 = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+  // This second part of the test veryfies that when the bit mask has a higher number of bits than the timestamps, the result is wrong if wrap around happens
+  const uint64_t wrongMask = 0x1FFFFFFFFFF; // 41 bits
+  const double result2 = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, wrongMask);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrection;
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result1);
+  TEST_ASSERT_NOT_EQUAL(expectedClockCorrection, result2);
+}
+
+void testCalculateClockCorrectionWithInvalidInputData() {
+  // Fixture
+  const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+
+  const uint64_t old_t_in_cl_x = 1000;
+  const uint64_t new_t_in_cl_x = 1000;
+  const uint64_t old_t_in_cl_reference = 56789;
+  const uint64_t new_t_in_cl_reference = 56789;
+
+  // Test
+  const double result = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+
+  // Assert
+  const double expectedClockCorrection = -1;
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheSpecs() {
+  // Fixture
+  const double clockCorrection = 5;
+  const unsigned int clockCorrectionBucket = 3;
+  const double clockCorrectionCandidate = CLOCK_CORRECTION_SPEC_MAX; // First value out of the specs
+
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = clockCorrectionBucket
+  };
+
+  // Test
+  const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrection;
+  const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket - 1;
+  TEST_ASSERT_FALSE(sampleIsReliable);
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+  TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheInnerLimitOfTheSpecsWithEmptyBucket() {
+  // Fixture
+  const double clockCorrection = 1;
+  const unsigned int clockCorrectionBucket = 0;
+  const double clockCorrectionCandidate = nextafter(CLOCK_CORRECTION_SPEC_MAX, 1); // First value in the specs
+
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = clockCorrectionBucket
+  };
+
+  // Test
+  const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrectionCandidate;
+  const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket;
+  TEST_ASSERT_FALSE(sampleIsReliable);
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+  TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheAcceptableNoiseWithEmptyBucket() {
+  // Fixture
+  const double clockCorrection = 1;
+  const unsigned int clockCorrectionBucket = 0;
+  const double clockCorrectionCandidate = clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE; // First value out of acceptable noise
+
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = clockCorrectionBucket
+  };
+
+  // Test
+  const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrectionCandidate;
+  const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket;
+  TEST_ASSERT_FALSE(sampleIsReliable);
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+  TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheAcceptableNoiseWithNonEmptyBucket() {
+  // Fixture
+  const double clockCorrection = 1;
+  const unsigned int clockCorrectionBucket = 2;
+  const double clockCorrectionCandidate = clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE; // First value out of acceptable noise
+
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = clockCorrectionBucket
+  };
+
+  // Test
+  const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrection;
+  const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket - 1;
+  TEST_ASSERT_FALSE(sampleIsReliable);
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+  TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheInnerLimitOfTheAcceptableNoise() {
+  // Fixture
+  const double clockCorrection = 1.0 + 10e-6; // A value inside the clock specs
+  const unsigned int clockCorrectionBucket = 2;
+  const double clockCorrectionCandidate = nextafter(clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE, 1); // First value in the acceptable noise
+
+  clockCorrectionStorage_t clockCorrectionStorage = {
+    .clockCorrection = clockCorrection,
+    .clockCorrectionBucket = clockCorrectionBucket
+  };
+
+  // Test
+  const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+  // Assert
+  const double expectedClockCorrection = clockCorrection * CLOCK_CORRECTION_FILTER + clockCorrectionCandidate * (1.0 - CLOCK_CORRECTION_FILTER);
+  const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket + 1;
+  TEST_ASSERT_TRUE(sampleIsReliable);
+  TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+  TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_eprintf.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_eprintf.c
new file mode 100644
index 0000000000000000000000000000000000000000..74cd3650da0ec1ac23086c0b89760a99b57f8f4e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_eprintf.c
@@ -0,0 +1,300 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * TestEprintf.c - Unit tests for printing of formatted strings
+ */
+
+#include "unity.h"
+#include "eprintf.h"
+
+#include <stdarg.h>
+#include <string.h>
+
+static int putcMock(int c);
+static void verifyStdio(char* format, ...);
+static void verify(char* expected, char* format, ...);
+static char actual[100];
+
+static void reset() {
+  memset(actual, 0, sizeof(actual));
+}
+
+void setUp(void) {
+  reset();
+}
+
+void tearDown(void) {}
+
+void testThatTextIsPrinted() {
+  // Fixture
+  char* expected = "Some text\n";
+
+  // Test
+  eprintf(putcMock, "Some text\n");
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
+
+void testThatTheNumberOfCharactersIsReturned() {
+  // Fixture
+  int expected = 10;
+
+  // Test
+  int actual = eprintf(putcMock, "Some text\n");
+
+  // Assert
+  TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatStringIsPrinted() {
+  // Fixture
+  // Test
+  // Assert
+  verifyStdio("Some %s text", "extra");
+}
+
+void testThatIntIsPrinted() {
+  // Fixture
+  int val = -456;
+
+  // Test
+  // Assert
+  verifyStdio("Some %i text", val);
+}
+
+void testThatIntIsPrinted2() {
+  // Fixture
+  int val = 123;
+
+  // Test
+  // Assert
+  verifyStdio("Some %d text", val);
+}
+
+void testThatLongIntIsPrinted() {
+  // Fixture
+  long int val = -456123434;
+
+  // Test
+  // Assert
+  verifyStdio("Some %ld text", val);
+}
+
+void testThatLongLongIntIsPrinted() {
+  // Fixture
+  long long int val = -4561234345345;
+
+  // Test
+  // Assert
+  verifyStdio("Some %lld text", val);
+}
+
+void testThatUnsignedIntIsPrinted() {
+  // Fixture
+  unsigned int val = 10;
+
+  // Test
+  // Assert
+  verifyStdio("Some %u text", val);
+}
+
+void testThatLongUnsignedIntIsPrinted() {
+  // Fixture
+  long unsigned int val = 1234567890;
+
+  // Test
+  // Assert
+  verifyStdio("Some %lu text", val);
+}
+
+void testThatLongLongUnsignedIntIsPrinted() {
+  // Fixture
+  long long unsigned int val = 9223372036854775807;
+
+  // Test
+  // Assert
+  verifyStdio("Some %llu text", val);
+}
+
+void testThatHexIsPrinted() {
+  // Fixture
+  int val = 0xABCD;
+
+  // Note: Not behaving as sprintf() that generates "Some abcd text"
+  char* expected = "Some ABCD text";
+
+  // Test
+  eprintf(putcMock, "Some %x text", val);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
+
+void testThatHexIsPrinted2() {
+  // Fixture
+  unsigned int val = 0xABCD;
+
+  // Test
+  // Assert
+  verifyStdio("Some %X text", val);
+}
+
+void testThatLongHexIsPrinted() {
+  // Fixture
+  long int val = 0xABCD;
+
+  // Test
+  // Assert
+  verifyStdio("Some %lX text", val);
+}
+
+
+void testThatLongLongHexIsPrinted() {
+  // Fixture
+  long long int val = 0xABCD98768FEDC098;
+
+  // Test
+  // Assert
+  verifyStdio("Some %llX text", val);
+}
+
+void testThatHexWithWidthIsPrinted() {
+  // Fixture
+  int val = 0xab;
+
+  // Test
+  // Assert
+  verifyStdio("Some %4X text", val);
+}
+
+void testThatDoubleIsPrintedWithRoundingErrors() {
+  // Fixture
+  double val = -1234.12;
+  char* expected = "Implementaion has rounding errors, -1234.119995";
+
+  // Test
+  // Assert
+  verify(expected, "Implementaion has rounding errors, %f", val);
+}
+
+void testThatHexWithZeroPaddedWidthIsPrinted() {
+  // Fixture
+  int val = 0xab;
+
+  // Test
+  // Assert
+  verifyStdio("Some %08X text", val);
+}
+
+void testThatDoubleWithPrecisionIsPrinted() {
+  // Fixture
+  double val = -1234.1234;
+
+  // Test
+  // Assert
+  verifyStdio("Some %.2f text", val);
+}
+
+void testThatCharIsPrinted() {
+  // Fixture
+  char val1 = 'z';
+  char val2 = 'c';
+
+  // Test
+  // Assert
+  verifyStdio("Bitcra%ce ro%cks!", val1, val2);
+}
+
+void testThatMultipleParamsArePrinted() {
+  // Fixture
+
+  // Test
+  // Assert
+  verifyStdio("Bla %i %d text %s %03x %5x", 10, 20, "hello", 4, 5);
+}
+
+void testThatAllIntTypesArePrinted() {
+  // Fixture
+  // Test
+  // Assert
+  verify("255", "%u", (uint8_t)255);
+  verify("65535", "%u", (uint16_t)65535);
+  verify("4294967295", "%lu", (uint32_t)4294967295);
+  verify("18446744073709551615", "%llu", (uint64_t)18446744073709551615u);
+
+  verify("127", "%i", (int8_t)127);
+  verify("32767", "%i", (int16_t)32767);
+  verify("2147483647", "%li", (int32_t)2147483647);
+  verify("9223372036854775807", "%lli", (int64_t)9223372036854775807);
+
+  verify("FF", "%X", (uint8_t)0xFF);
+  verify("FFFF", "%X", (uint16_t)0xFFFF);
+  verify("FFFFFFFF", "%lX", (uint32_t)0xFFFFFFFF);
+  verify("FFFFFFFFFFFFFFFF", "%llX", (uint64_t)0xFFFFFFFFFFFFFFFF);
+}
+
+//////////////////////////////
+
+static int putcMock(int c) {
+  uint32_t i = 0;
+  for (; actual[i] != 0 && i < sizeof(actual); i++) {}
+  actual[i] = (char)c;
+  return 1;
+}
+
+static void verifyStdio(char* format, ...) {
+  // Fixture
+  reset();
+  va_list ap;
+  char* expected[100];
+
+  // Trust sprintf() to be correct
+  va_start(ap, format);
+  int expected_len = vsprintf((char*)expected, format, ap);
+  va_end(ap);
+
+  // Test
+  va_start(ap, format);
+  int actual_len = evprintf(putcMock, format, ap);
+  va_end(ap);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING(expected, actual);
+  TEST_ASSERT_EQUAL_INT(expected_len, actual_len);
+}
+
+static void verify(char* expected, char* format, ...) {
+  reset();
+  va_list ap;
+
+  // Fixture
+  // Trust sprintf() to be correct
+  // Test
+  va_start(ap, format);
+  evprintf(putcMock, format, ap);
+  va_end(ap);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_num.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_num.c
new file mode 100644
index 0000000000000000000000000000000000000000..e99c37d878c7b172f779eeb0a233b200bda7fbd4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_num.c
@@ -0,0 +1,138 @@
+#include "unity.h"
+#include "num.h"
+
+
+void testThatLimitUint16NotLimitInRange() {
+  // Fixture
+  int32_t value = 4711;
+  uint16_t expected = 4711;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitZero() {
+  // Fixture
+  int32_t value = -100;
+  uint16_t expected = 0;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitMax() {
+  // Fixture
+  int32_t value = UINT16_MAX + 100;
+  uint16_t expected = UINT16_MAX;
+
+  // Test
+  uint16_t actual = limitUint16(value);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatConstrainDoesNotLimitInRange() {
+  // Fixture
+  float value = 3.45;
+  float expected = value;
+
+  // Test
+  float actual = constrain(value, 0.0, 100.0);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMin() {
+  // Fixture
+  float value = -10.0;
+  float min = 3.45;
+  float expected = min;
+
+  // Test
+  float actual = constrain(value, min, 100.0);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMax() {
+  // Fixture
+  float value = 10.0;
+  float max = 3.45;
+  float expected = max;
+
+  // Test
+  float actual = constrain(value, -100.0, max);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandPositive() {
+  // Fixture
+  float value = 0.5;
+  float threshold = 1.0;
+  float expected = 0.0;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandNegative() {
+  // Fixture
+  float value = -0.5;
+  float threshold = 1.0;
+  float expected = 0.0;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandPositive() {
+  // Fixture
+  float value = 2.5;
+  float threshold = 1.0;
+  float expected = 1.5;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandNegative() {
+  // Fixture
+  float value = -2.5;
+  float threshold = 1.0;
+  float expected = -1.5;
+
+  // Test
+  float actual = deadband(value, threshold);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_rateSupervisor.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_rateSupervisor.c
new file mode 100644
index 0000000000000000000000000000000000000000..3d4b1b5f1b68b4b4095606c2dcdb961d3122df43
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_rateSupervisor.c
@@ -0,0 +1,145 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 20 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * test_rateSupervisor.h - unit tests for rate supervisor
+ */
+
+// File under test
+#include "rateSupervisor.h"
+
+#include "unity.h"
+
+
+static rateSupervisor_t context;
+
+static uint32_t startTime = 12345;
+static uint32_t evaluationIntervall = 1000;
+static uint32_t minCount = 2;
+static uint32_t maxCount = 4;
+
+void setUp(void) {
+    rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, 0);
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testThatValidationPassesBeforeEvaluation() {
+    // Fixture
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 100);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationPassesWhenCountIsWithinInterval() {
+    // Fixture
+    rateSupervisorValidate(&context, startTime + 400);
+    rateSupervisorValidate(&context, startTime + 800);
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationFailesWhenCountIsTooLow() {
+    // Fixture
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatValidationPassesWhenCountIsTooHigh() {
+    // Fixture
+    rateSupervisorValidate(&context, startTime + 400);
+    rateSupervisorValidate(&context, startTime + 500);
+    rateSupervisorValidate(&context, startTime + 600);
+    rateSupervisorValidate(&context, startTime + 700);
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCounterIsResetAtEvaluation() {
+    // Fixture
+    rateSupervisorValidate(&context, startTime + 400);
+    rateSupervisorValidate(&context, startTime + 700);
+    rateSupervisorValidate(&context, startTime + 1200);
+    // An evaluation should be triggered by the last call and counter reset
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200 + 1100);
+
+    // Assert
+    // The test call should trigger a second evaluation, and since the counter was
+    // reset, the validation should return false
+    TEST_ASSERT_FALSE(actual);
+}
+
+void testThatLatestCountIsStored() {
+    // Fixture
+    rateSupervisorValidate(&context, startTime + 1200);
+    uint32_t expected = 1;
+
+    // Test
+    uint32_t actual = rateSupervisorLatestCount(&context);
+
+    // Assert
+    TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatValidationPassesWithSkip() {
+    // Fixture
+    uint32_t skip = 1;
+    rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, skip);
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+    // Assert
+    TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationFailesAfterSkip() {
+    // Fixture
+    uint32_t skip = 1;
+    rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, skip);
+    rateSupervisorValidate(&context, startTime + 1200);
+
+    // Test
+    bool actual = rateSupervisorValidate(&context, startTime + 1200 + 1100);
+
+    // Assert
+    TEST_ASSERT_FALSE(actual);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_statsCnt.c b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_statsCnt.c
new file mode 100644
index 0000000000000000000000000000000000000000..b9294aae794b57685dc9daccab4b9dfbb0559cb8
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/test/utils/src/test_statsCnt.c
@@ -0,0 +1,178 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * testStatsCnt.h - unit tests for statsCnt
+ */
+
+// File under test
+#include "statsCnt.h"
+
+#include "unity.h"
+
+
+// Helpers
+void assertRateCounterIsInitialized(statsCntRateCounter_t* sut);
+void assertLoggerIsInitialized(statsCntRateLogger_t* sut);
+
+void testThatRateCounterIsInitialized() {
+  // Fixture
+  statsCntRateCounter_t sut = {
+    .count = 1,
+    .latestCount = 2,
+    .latestAveragingMs = 3,
+    .latestRate = 4.0f,
+    .intervalMs = 5,
+  };
+
+  // Test
+  statsCntRateCounterInit(&sut, 4711);
+
+  // Assert
+  assertRateCounterIsInitialized(&sut);
+}
+
+void testThatRateIsComputedWhenTimeSinceLastComputationIsLongerThanTheInterval() {
+  // Fixture
+  uint32_t interval = 500;
+
+  statsCntRateCounter_t sut;
+  statsCntRateCounterInit(&sut, interval);
+
+  uint32_t firstCount = 100;
+  sut.count = firstCount;
+
+  uint32_t firstUpdate_ms = 1000;
+  statsCntRateCounterUpdate(&sut, firstUpdate_ms);
+
+  uint32_t dCount = 100;
+  sut.count = firstCount + dCount;
+
+  // Make sure dt is longer than the interval
+  uint32_t dt_ms = interval * 2;
+  uint32_t now = firstUpdate_ms + dt_ms;
+
+  float expected = dCount * 1000.0f / dt_ms;
+
+  // Test
+  float actual = statsCntRateCounterUpdate(&sut, now);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+  TEST_ASSERT_EQUAL_FLOAT(expected, sut.latestRate);
+}
+
+void testThatRateNotIsComputedWhenTimeSinceLastComputationIsLessThanTheInterval() {
+  // Fixture
+  uint32_t interval = 500;
+
+  statsCntRateCounter_t sut;
+  statsCntRateCounterInit(&sut, interval);
+
+  uint32_t firstCount = 100;
+  sut.count = firstCount;
+
+  uint32_t firstUpdate_ms = 1000;
+  float expected = statsCntRateCounterUpdate(&sut, firstUpdate_ms);
+
+  uint32_t dCount = 100;
+  sut.count = firstCount + dCount;
+
+  // Make sure dt is less than the interval
+  uint32_t dt_ms = interval - 1;
+  uint32_t now = firstUpdate_ms + dt_ms;
+
+  // Test
+  float actual = statsCntRateCounterUpdate(&sut, now);
+
+  // Assert
+  TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+  TEST_ASSERT_EQUAL_FLOAT(expected, sut.latestRate);
+}
+
+void testThatRateLoggerIsInitialized() {
+  // Fixture
+  statsCntRateLogger_t sut = {
+    .logByFunction = {.data = 0, .aquireFloat = 0},
+    .rateCounter = {.latestAveragingMs = 3},
+  };
+
+  // Test
+  STATS_CNT_RATE_INIT(&sut, 4711);
+
+  // Assert
+  assertLoggerIsInitialized(&sut);
+}
+
+void testThatRateLoggerIsInitializedInline() {
+  // Fixture
+  // Test
+  STATS_CNT_RATE_DEFINE(sut, 4711);
+
+  // Assert
+  assertLoggerIsInitialized(&sut);
+}
+
+void testThatStatsCntRateLoggerCanBeCastToLogByFunction() {
+  // Fixture
+  statsCntRateLogger_t sut = {
+    .logByFunction = {.data = (void*)47, .aquireFloat = (logAcquireFloat)11},
+  };
+
+  // Test
+  logByFunction_t* actual = (logByFunction_t*)&sut;
+
+  // Assert
+  TEST_ASSERT_EQUAL_PTR(47, actual->data);
+  TEST_ASSERT_EQUAL_PTR(11, actual->aquireFloat);
+}
+
+void testThatCounterIsIncreased() {
+  // Fixture
+  statsCntRateLogger_t sut;
+  STATS_CNT_RATE_INIT(&sut, 4711);
+
+  // Test
+  STATS_CNT_RATE_EVENT(&sut);
+
+  // Assert
+  TEST_ASSERT_EQUAL_UINT32(1, sut.rateCounter.count);
+}
+
+
+// Helpers
+
+void assertRateCounterIsInitialized(statsCntRateCounter_t* sut) {
+  TEST_ASSERT_EQUAL_UINT32(4711, sut->intervalMs);
+  TEST_ASSERT_EQUAL_UINT32(0, sut->count);
+  TEST_ASSERT_EQUAL_UINT32(0, sut->latestCount);
+  TEST_ASSERT_EQUAL_UINT32(0, sut->latestAveragingMs);
+  TEST_ASSERT_EQUAL_FLOAT(0.0, sut->latestRate);
+}
+
+void assertLoggerIsInitialized(statsCntRateLogger_t* sut) {
+  TEST_ASSERT_EQUAL_PTR(sut, sut->logByFunction.data);
+  TEST_ASSERT_EQUAL_PTR(statsCntRateLogHandler, sut->logByFunction.aquireFloat);
+
+  assertRateCounterIsInitialized(&sut->rateCounter);
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build-docs/build-docs b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build-docs/build-docs
new file mode 100755
index 0000000000000000000000000000000000000000..ab3170991b041776aabf1604e98dfcfc44fcaeb2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build-docs/build-docs
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+doxDir=$scriptDir/../../generated/dox
+xmlDir=$doxDir/xml
+apiDocsDir=$scriptDir/../../docs/api
+
+# Generate xml from the source code
+mkdir -p $doxDir
+[ -d "$xmlDir" ] && rm -r $xmlDir
+doxygen tools/gen-dox/Doxyfile
+
+# Generate markdown from the xml
+[ -d "$apiDir" ] && rm -r $apiDocsDir
+mkdir -p $apiDocsDir
+python3 $scriptDir/../gen-dox/xml_to_markdown_logparam_doc.py $xmlDir $apiDocsDir
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/build b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/build
new file mode 100755
index 0000000000000000000000000000000000000000..452bd88d8c763e8dcf72dece2a5e033fa1c9b4f3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/build
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+${scriptDir}/test "${@}"
+${scriptDir}/make "${@}"
+${scriptDir}/check_elf
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/check_elf b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/check_elf
new file mode 100755
index 0000000000000000000000000000000000000000..f0d1cf1d0b4df9d4770c0a8e034837355fb547ac
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/check_elf
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+python3 ${scriptDir}/../verify/elf_sanity.py ${scriptDir}/../../*.elf
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/clean b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/clean
new file mode 100755
index 0000000000000000000000000000000000000000..9a56c5c6191ffcfa2a3009caba29a7a9c6661209
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/clean
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+echo "Deprecated. Use 'tb make clean' instead"
+
+make --directory=${scriptDir}/../.. clean "${@}"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/compile b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/compile
new file mode 100755
index 0000000000000000000000000000000000000000..6fae16330501effc9661b17cecdcaeeaacc55154
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/compile
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+echo "Deprecated. Use 'tb make' instead"
+
+make --directory=${scriptDir}/../.. "${@}"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/make b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/make
new file mode 100755
index 0000000000000000000000000000000000000000..83fb74cbfa53b2f444332cb4a981bc413cad0cba
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/make
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+make --directory=${scriptDir}/../.. "${@}"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/test b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/test
new file mode 100755
index 0000000000000000000000000000000000000000..f5ec60b1a21b6fd13951411fab4a92b0dd457d0f
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/build/test
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+make unit "${@}"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/eclipse/InterruptsInEclipse b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/eclipse/InterruptsInEclipse
new file mode 100644
index 0000000000000000000000000000000000000000..14a5f5c510e3829603cf724c9bdb1b6a154479b8
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/eclipse/InterruptsInEclipse
@@ -0,0 +1,31 @@
+define hook-step
+	monitor cortex_m3 maskisr on
+end
+define hookpost-step
+	monitor cortex_m3 maskisr off
+end
+
+define hook-stepi
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-stepi
+	monitor cortex_m3 maskisr off
+end
+
+define hook-next
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-next
+	monitor cortex_m3 maskisr off
+end
+
+define hook-finish
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-finish
+	monitor cortex_m3 maskisr off
+end
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/Doxyfile b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/Doxyfile
new file mode 100644
index 0000000000000000000000000000000000000000..359f3ab6c707bbe7045a4f61ecbfefab4eb113c4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/Doxyfile
@@ -0,0 +1,2466 @@
+# Doxyfile 1.8.13
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all text
+# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
+# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
+# for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "Crazyflie firmware API"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          =
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       =
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:\n"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines.
+
+ALIASES                =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST              =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. For
+# instance to make doxygen treat .inc files as Fortran files (default is PHP),
+# and .f files as C (default is Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = NO
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 0.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 0
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO, these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = src
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
+# *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf and *.qsf.
+
+FILE_PATTERNS          = *.c \
+                         *.h \
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = src/lib
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse-libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = NO
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = generated/dox/html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT    = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = YES
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = generated/dox/xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
+# structure of the code including all documentation. Note that this feature is
+# still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = YES
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = YES
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+# Create fake classes for log and param groups to make doxygen generate data for
+# comments on log and param definitions.
+
+PREDEFINED             = "__attribute__(x)=" \
+                         "LOG_ADD(TYPE, NAME, ADDRESS)=TYPE NAME;" \
+                         "LOG_ADD_BY_FUNCTION(TYPE, NAME, ADDRESS)=TYPE NAME;" \
+                         "STATS_CNT_RATE_LOG_ADD(NAME, LOGGER)=LOG_FLOAT NAME;" \
+                         "LOG_ADD_CORE(TYPE, NAME, ADDRESS)=/** @@ingroup LOG_CORE_GROUP */ TYPE NAME;" \
+                         "LOG_GROUP_START(NAME)=class fake_log_class_##NAME {" \
+                         "LOG_GROUP_STOP(NAME)=};" \
+                         "PARAM_ADD(TYPE, NAME, ADDRESS)=TYPE NAME;" \
+                         "PARAM_ADD_CORE(TYPE, NAME, ADDRESS)=/** @@ingroup PARAM_CORE_GROUP */ TYPE NAME;" \
+                         "PARAM_GROUP_START(NAME)=class fake_param_class_##NAME {" \
+                         "PARAM_GROUP_STOP(NAME)=};"
+
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of 'which perl').
+# The default file (with absolute path) is: /usr/bin/perl.
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS         = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see:
+# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH            =
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: YES.
+
+HAVE_DOT               = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# When you want a differently looking font in the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME           = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE           = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd,
+# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo,
+# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS           =
+
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file. If left blank, it is assumed
+# PlantUML is not used or called during a preprocessing step. Doxygen will
+# generate a warning when it encounters a \startuml command in this case and
+# will not generate output for the diagram.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
+#
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_TRANSPARENT        = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS      = NO
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
+# files that are used to generate the various graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_CLEANUP            = YES
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/xml_to_markdown_logparam_doc.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/xml_to_markdown_logparam_doc.py
new file mode 100644
index 0000000000000000000000000000000000000000..eeae59f8f8c38668c87636c005a38445827bc1a2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/gen-dox/xml_to_markdown_logparam_doc.py
@@ -0,0 +1,225 @@
+import xml.etree.ElementTree as ET
+import sys
+import os
+
+# Runs this directly from the crazyflie firmware directory with python tools/gen-dox/xmlparser
+# Make sure there are XML docs to parse! check the readme
+
+
+def create_log_markdown(xml_dir, api_doc_dir):
+    log_groups = parse_xml('logs', xml_dir)
+    create_markdown('logs', log_groups, api_doc_dir)
+
+
+def create_param_markdown(xml_dir, api_doc_dir):
+    param_groups = parse_xml('params', xml_dir)
+    create_markdown('params', param_groups, api_doc_dir)
+
+def read_and_parse_xml(file_name):
+    with open(file_name, 'rt') as file:
+        xml = file.read()
+        pre_processed_xml = pre_process_xml(xml)
+        return ET.fromstring(pre_processed_xml)
+
+def pre_process_xml(xml):
+    # The xml we get from doxygen contains some un-orthodox elements that we handle before we parse the xml
+    if xml.find('<itemizedlist>') != -1:
+        raise ValueError("The xml contains <itemizedlist> which is not supported in log/param documentation. It is probably caused by a list created using '-'.")
+    if xml.find('<ulink') != -1:
+        raise ValueError("The xml contains <ulink> which is not supported in log/param documentation. It is probably caused by a link, prepend the URL with '%'.")
+
+    return xml.replace('<linebreak/>', "")
+
+def merge_paras(paras, separator):
+    parts = []
+    if paras != None:
+        for para in paras:
+            if para.text != None:
+                parts.append(para.text)
+
+    return separator.join(parts)
+
+def get_brief_description(element):
+    paras = element.findall('briefdescription/para')
+    return merge_paras(paras, ' ')
+
+def get_detailed_description(element):
+    paras = element.findall('detaileddescription/para')
+    return merge_paras(paras, '\n\n')
+
+def parse_xml(doc_type, xml_dir):
+    groups_info_storage = []
+    search_string = ''
+    if doc_type == 'logs':
+        search_string = 'fake__log__class__'
+        replace_string = 'fake_log_class_'
+        core_string = 'LOG__CORE__GROUP'
+    elif doc_type == 'params':
+        search_string = 'fake__param__class__'
+        replace_string = 'fake_param_class_'
+        core_string = 'PARAM__CORE__GROUP'
+    else:
+        print('group type does not exist!')
+        return None
+
+    root = read_and_parse_xml(os.path.join(xml_dir, 'index.xml'))
+
+    for compound in root.findall('compound'):
+        filename = compound.attrib['refid']
+
+        # Go through all the log classes
+        if search_string in filename:
+            full_filename = filename + '.xml'
+            full_group_info = process_class_file(os.path.join(xml_dir, full_filename), replace_string, core_string)
+            groups_info_storage.append(full_group_info)
+
+    return groups_info_storage
+
+
+def process_class_file(file_name, replace_string, core_string):
+    root = read_and_parse_xml(file_name)
+
+    # Group name
+    for compounddef in root.findall('.//compounddef'):
+        compoundname = compounddef.find('compoundname')
+        group_name_fake = compoundname.text
+        group_name = group_name_fake.replace(replace_string, '')
+        group_description = get_detailed_description(compounddef)
+
+    group_info = [group_name, group_description]
+
+    info_variables = extract_memberdefs(root, core_string)
+    return [group_info, info_variables]
+
+
+def extract_memberdefs(root, core_string):
+    info_variables = []
+
+    for memberdef in root.findall('.//memberdef'):
+        variable_name = memberdef.find('name').text
+
+        id_definition = memberdef.attrib['id']
+        is_variable_core = False
+        if core_string in id_definition:
+            is_variable_core = True
+
+        brief_description = get_brief_description(memberdef)
+        detaild_description = get_detailed_description(memberdef)
+
+        type_variable = memberdef.find('type/ref').text
+
+        #location and line
+        location = memberdef.find('location')
+        file_location = location.attrib['file']
+        line_location = location.attrib['line']
+
+        info_variable = [variable_name, is_variable_core, brief_description, type_variable,file_location, line_location, detaild_description]
+        info_variables.append(info_variable)
+
+    return info_variables
+
+
+def create_markdown(doc_type, groups_info_storage, api_doc_dir):
+    markdown_file_name = os.path.join(api_doc_dir, doc_type + '.md')
+    f = open(markdown_file_name, 'w')
+
+    f.write('---\n')
+    if doc_type == 'logs':
+        f.write('title: Logging groups and variables\n')
+    elif doc_type == 'params':
+        f.write('title: Parameter groups and variables\n')
+    else:
+        print('group type does not exist!')
+        return None
+
+    f.write('page_id: ' +doc_type + '\n')
+    f.write('---\n')
+
+
+    f.write('## Index\n\n')
+    first_letter = ''
+
+    for full_group_info in groups_info_storage:
+        group_info = full_group_info[0]
+        group_name = group_info[0]
+        if first_letter != group_name[0]:
+            first_letter = group_name[0]
+            f.write('\n')
+            f.write('### ' + first_letter + '\n')
+
+        f.write('* [' +group_name+'](#'+group_name.lower()+')\n')
+
+    for full_group_info in groups_info_storage:
+        group_info = full_group_info[0]
+        group_name = group_info[0]
+        f.write('\n---\n')
+
+        f.write('[back to group index](#index) \n\n')
+        f.write('## '+ group_name + '\n')
+
+        group_description = group_info[1]
+        f.write(group_description + '\n')
+
+        f.write('### Variables\n\n')
+
+        info_variables = full_group_info[1]
+        string_detailed_descriptions = ''
+
+        table_start_string = (' | Name | Core | Type | Description | \n' +
+        ' | ------------- | ------------- | ----- |----- |\n')
+        f.write(table_start_string)
+
+        for info_variable in info_variables:
+            variable_name = info_variable[0]
+            is_variable_core = info_variable[1]
+            brief_description = info_variable[2]
+            type_variable= info_variable[3]
+            file_location= info_variable[4]
+            line_location= info_variable[5]
+            detailed_description = info_variable[6]
+
+            if detailed_description == None:
+                detailed_description = ''
+
+            string_variable_info = ''
+            full_name = group_name + '.' + variable_name
+            full_name_nodot =  group_name + variable_name
+            full_name_url = '[' + full_name + '](#' + full_name_nodot.lower() + ')'
+
+            core_indication_string = ''
+            if is_variable_core:
+                core_indication_string = 'Core'
+
+            string_variable_info = (' | ' + full_name_url + ' | ' + core_indication_string + ' | ' + type_variable + ' |' + brief_description + ' |\n')
+            f.write(string_variable_info)
+
+            if len(brief_description) > 0:
+                brief_description = '*' + brief_description.rstrip() + '*'
+
+            string_detailed_description = ('#### **' + full_name + '**\n\n ' +
+                '[' + file_location + ' (L' + line_location + ')](https://github.com/bitcraze/crazyflie-firmware/blob/master/' + file_location + '#L' + line_location + ')\n\n' +
+                brief_description + '\n\n' +
+                detailed_description + '\n\n')
+
+            string_detailed_descriptions += string_detailed_description
+
+        f.write('\n')
+        f.write('### Detailed Variable Information\n')
+
+        f.write(string_detailed_descriptions)
+
+
+    f.close()
+
+if __name__ == '__main__':
+
+    if(len(sys.argv)!=3):
+        raise ValueError("Need two arguments!")
+
+    xml_dir = sys.argv[1]
+    api_doc_dir = sys.argv[2]
+
+    print('Create Logging API Markdown files')
+    create_log_markdown(xml_dir, api_doc_dir)
+    print('Create Parameter API Markdown files')
+    create_param_markdown(xml_dir, api_doc_dir)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_geometry.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_geometry.py
new file mode 100755
index 0000000000000000000000000000000000000000..0a8f4c88edc65a5d78f0ccee5d293a04575cf4b5
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_geometry.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+
+#  ,---------,       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Crazyflie control firmware
+#
+#  Copyright (C) 2020 - 2021 Bitcraze AB
+#
+#  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, in version 3.
+#
+#  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.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program. If not, see <http://www.gnu.org/licenses/>.
+#
+#
+#  Calculate Lighthouse base station geometry based on data from the
+#  Crayzyflie. Requires a lighthouse deck.
+#
+#  This script connects to the Crazyflie and reads the sweep angles
+#  for the base station(s) and calculates their position and orientation in
+#  a coordinate system with origin at the position of the Crazyflie.
+#
+#  Usage:
+#  1. Place the Crazyflie in the origin of your coordinate system, facing
+#     positive X.
+#  2. Make sure the Lighthouse deck is mounted completely parallell with the
+#     ground (Crazyflie PCB) since this is what is going to define the
+#     coordiate system.
+#  3. Run the script
+#  4. Copy/paste the output into lighthouse.c, recompile and flash the Crazyflie.
+#
+
+import argparse
+import logging
+import numpy as np
+from threading import Event
+
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.mem import LighthouseBsGeometry
+from cflib.crazyflie.mem import LighthouseMemHelper
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.localization import LighthouseBsGeoEstimator
+from cflib.localization import LighthouseSweepAngleAverageReader
+
+
+class Estimator:
+    def __init__(self):
+        self.sensor_vectors_all = None
+        self.collection_event = Event()
+        self.write_event = Event()
+
+    def angles_collected_cb(self, angles):
+        self.sensor_vectors_all = angles
+        self.collection_event.set()
+
+    def write_done_cb(self, success):
+        if not success:
+            print("Write to CF failed!")
+        self.write_event.set()
+
+    def estimate(self, uri, do_write):
+        cf = Crazyflie(rw_cache='./cache')
+        with SyncCrazyflie(uri, cf=cf) as scf:
+            print("Reading sensor data...")
+            sweep_angle_reader = LighthouseSweepAngleAverageReader(scf.cf, self.angles_collected_cb)
+            sweep_angle_reader.start_angle_collection()
+            self.collection_event.wait()
+
+            print("Estimating position of base stations...")
+            geometries = {}
+            estimator = LighthouseBsGeoEstimator()
+            for id in sorted(self.sensor_vectors_all.keys()):
+                average_data = self.sensor_vectors_all[id]
+                sensor_data = average_data[1]
+                rotation_bs_matrix, position_bs_vector = estimator.estimate_geometry(sensor_data)
+                is_valid = estimator.sanity_check_result(position_bs_vector)
+                if is_valid:
+                    geo = LighthouseBsGeometry()
+                    geo.rotation_matrix = rotation_bs_matrix
+                    geo.origin = position_bs_vector
+                    geo.valid = True
+
+                    geometries[id] = geo
+
+                    self.print_geo(rotation_bs_matrix, position_bs_vector, is_valid)
+                else:
+                    print("Warning: could not find valid solution for " + id + 1)
+
+                print()
+
+            if do_write:
+                print("Uploading geo data to CF")
+                helper = LighthouseMemHelper(scf.cf)
+                helper.write_geos(geometries, self.write_done_cb)
+                self.write_event.wait()
+
+    def print_geo(self, rotation_cf, position_cf, is_valid):
+        print('C-format')
+        if is_valid:
+            valid_c = 'true'
+        else:
+            valid_c = 'false'
+
+        print('{.valid = ' + valid_c + ', .origin = {', end='')
+        for i in position_cf:
+            print("{:0.6f}, ".format(i), end='')
+
+        print("}, .mat = {", end='')
+
+        for i in rotation_cf:
+            print("{", end='')
+            for j in i:
+                print("{:0.6f}, ".format(j), end='')
+            print("}, ", end='')
+
+        print("}},")
+
+        print()
+        print('python-format')
+        print('geo = LighthouseBsGeometry()')
+        print('geo.origin =', np.array2string(position_cf, separator=','))
+        print('geo.rotation_matrix = [', end='')
+        for row in rotation_cf:
+            print(np.array2string(row, separator=','), end='')
+            print(', ', end='')
+        print(']')
+        print('geo.valid =', is_valid)
+
+
+parser = argparse.ArgumentParser()
+uri = "radio://0/80/2M"
+parser.add_argument("--uri", help="uri to use when connecting to the Crazyflie. Default: " + uri)
+parser.add_argument("--write", help="upload the calculated geo data to the Crazflie", action="store_true")
+args = parser.parse_args()
+if args.uri:
+    uri = args.uri
+
+# Only output errors from the logging framework
+logging.basicConfig(level=logging.ERROR)
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+estimator = Estimator()
+estimator.estimate(uri, args.write)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_position.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_position.py
new file mode 100644
index 0000000000000000000000000000000000000000..e6d1e22a8212dbddc7716453d2a22d25b054176a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_bs_position.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+# Scripts acquiring the base-stations position from a running SteamVR system
+# At least one object, HDM controller or tracker, should be tracked in order
+# for the script to work.
+#
+# The output can be directly copy-pasted in the Crazyflie firmware lighthouse.c
+# lighthouse deck driver.
+
+import sys
+import openvr
+import numpy as np
+
+CENTER_AROUND_CONTROLLER = False
+
+print("Opening OpenVR")
+vr = openvr.init(openvr.VRApplication_Other)
+
+print("OpenVR Opened")
+devices = {}
+poses = vr.getDeviceToAbsoluteTrackingPose(openvr.TrackingUniverseStanding, 0,
+                                           openvr.k_unMaxTrackedDeviceCount)
+
+if CENTER_AROUND_CONTROLLER:
+    offset = None
+    # Acquire offset
+    for i in range(openvr.k_unMaxTrackedDeviceCount):
+        if poses[i].bPoseIsValid:
+            device_class = vr.getTrackedDeviceClass(i)
+            if device_class == openvr.TrackedDeviceClass_Controller or \
+               device_class == openvr.TrackedDeviceClass_GenericTracker:
+                pose = poses[i].mDeviceToAbsoluteTracking
+                offset = [pose[0][3], pose[1][3], pose[2][3]]
+                break
+
+    if offset is None:
+        print("Controller not found, place controller at the origin of the space")
+        openvr.shutdown()
+        sys.exit(1)
+else:
+    offset = [0, 0, 0]
+
+print("Origin: {}", offset)
+
+
+print("-------------------------------")
+
+bs_poses = [None, None]
+
+for i in range(openvr.k_unMaxTrackedDeviceCount):
+    if poses[i].bPoseIsValid:
+        device_class = vr.getTrackedDeviceClass(i)
+        if (device_class == openvr.TrackedDeviceClass_TrackingReference):
+
+            mode = vr.getStringTrackedDeviceProperty(i, openvr.Prop_ModeLabel_String)
+            try:
+                mode = mode.decode("utf-8")
+            except:
+                #likely already decoded
+                pass
+
+            pose = poses[i].mDeviceToAbsoluteTracking
+
+            # Mode 'B' is master
+            if mode == 'B':
+                bs_poses[0] = pose
+            elif mode == 'A' or mode == 'C':
+                bs_poses[1] = pose
+            else:
+                print("Base station with mode {} detected.".format(mode))
+                print("This script can only work with base station V1 (mode A, B or C). Exiting.")
+                sys.exit(1)
+
+# Rotation matrixes to convert to the CF coordinate system
+openvr_to_cf = np.array([
+    [0.0, 0.0, -1.0],
+    [-1.0, 0.0, 0.0],
+    [0.0, 1.0, 0.0],
+])
+
+cf_to_openvr = np.array([
+    [0.0, -1.0, 0.0],
+    [0.0, 0.0, 1.0],
+    [-1.0, 0.0, 0.0],
+])
+
+
+for pose in bs_poses:
+    if pose is None:
+        continue
+
+    position = [pose[0][3] - offset[0], pose[1][3] - offset[1], pose[2][3] - offset[2]]
+    position_cf = np.dot(openvr_to_cf, position)
+
+    rotation = [pose[0][:3], pose[1][:3], pose[2][:3]]
+    rotation_cf = np.dot(openvr_to_cf, np.dot(rotation, cf_to_openvr))
+
+    print("{.origin = {", end='')
+    for i in position_cf:
+        print("{:0.6f}, ".format(i), end='')
+
+    print("}, .mat = {", end='')
+
+    for i in rotation_cf:
+        print("{", end='')
+        for j in i:
+            print("{:0.6f}, ".format(j), end='')
+        print("}, ", end='')
+
+    print("}},")
+
+openvr.shutdown()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_lh2_calib_data.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_lh2_calib_data.py
new file mode 100755
index 0000000000000000000000000000000000000000..fd63300dd39fb7abd4b6e6dd28424a256f2580c6
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/get_lh2_calib_data.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+
+#  ,---------,       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Crazyflie control firmware
+#
+#  Copyright (C) 2020-2021 Bitcraze AB
+#
+#  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, in version 3.
+#
+#  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.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program. If not, see <http://www.gnu.org/licenses/>.
+#
+#
+#  Get calibration data from a lighthouse 2 base station.
+#
+#  This script connects to a lighthouse base station and
+#  extracts the calibration parameters. The base station is a serial device
+#  when connected via USB.
+#
+#  Usage:
+#  1. Connect a USB cable to a lighthouse 2 base station
+#  2. Run the script, use the serial port (usually something like
+#     /dev/tty.usb123456) together with the --dev switch.
+#     >>> get_lh2_clib_data.py --dev /dev/tty.usb123456
+#  3. Copy/paste the output into the appropriate app or other file.
+#
+
+import argparse
+import io
+import serial
+import sys
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--dev', help='serial device to use when connecting to the base station.')
+args = parser.parse_args()
+if args.dev:
+    dev = args.dev
+else:
+    print("Error: --dev required")
+    sys.exit(1)
+
+print ('Connecting to ' + dev)
+
+ser = serial.Serial(dev, timeout=0.4)
+sio = io.TextIOWrapper(io.BufferedRWPair(ser, ser))
+
+# Request id
+sio.write("\r\nid\r\n")
+sio.flush()
+id_lines = sio.readlines()
+
+# Parse id
+uid = id_lines[3].split(': ')[1].strip()
+
+# Request fcal parameters
+sio.write("param list fcal\r\n")
+sio.flush()
+fcal_lines = sio.readlines()
+ser.close()
+
+# Parse data
+data = {'0': {}, '1': {}}
+for line in fcal_lines:
+    if line.startswith('fcal.'):
+        parts = line.split()
+        subs = parts[0].split('.')
+
+        sweep = subs[1]
+        param = subs[2]
+        value = parts[1]
+
+        data[sweep][param] = value
+
+print('C-format')
+print('    .sweep = {')
+for sweep, params in data.items():
+    print('      {', end='')
+    for param, value in params.items():
+        print('.' + param + ' = ' + value + ', ', end='')
+    print('},')
+print('    },')
+print('    .uid = 0x' + uid + ',')
+print('    .valid = true,')
+print()
+print('python-format')
+print('calib = LighthouseBsCalibration()')
+for sweep, params in data.items():
+    for param, value in params.items():
+        print('calib.sweeps[{}].{} = {}'.format(sweep, param, value))
+print('calib.uid = 0x' + uid)
+print('calib.valid = True')
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/persist_bs_data.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/persist_bs_data.py
new file mode 100755
index 0000000000000000000000000000000000000000..ea5b707ce17be8efc83d81deda8193b92fee44ed
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/persist_bs_data.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+
+#  ,---------,       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Crazyflie control firmware
+#
+#  Copyright (C) 2020 Bitcraze AB
+#
+#  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, in version 3.
+#
+#  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.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program. If not, see <http://www.gnu.org/licenses/>.
+#
+#
+#  Persist geometry and calibration data in the Crazyflie storage.
+#
+#  This script uploads geometry and calibration data to a crazyflie and
+#  writes the data to persistant memory to make it available after
+#  re-boot.
+#
+#  This script is a temporary solution until there is support
+#  in the client.
+
+
+import logging
+from threading import Event
+
+import cflib.crtp  # noqa
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.mem import LighthouseBsCalibration
+from cflib.crazyflie.mem import LighthouseBsGeometry
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.localization import LighthouseConfigWriter
+
+uri = 'radio://0/80'
+
+
+class WriteMem:
+    def __init__(self, uri, geos, calibs):
+        self._event = Event()
+
+        with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+            writer = LighthouseConfigWriter(scf.cf, nr_of_base_stations=2)
+            writer.write_and_store_config(self._data_written, geos=geos, calibs=calibs)
+            self._event.wait()
+
+    def _data_written(self, sucess):
+        print('Data written')
+        self._event.set()
+
+
+geo0 = LighthouseBsGeometry()
+geo0.origin = [-1.01977998,-0.19424433, 1.97086964]
+geo0.rotation_matrix = [[ 0.66385385,-0.26347329, 0.6999142 ], [0.18206993,0.96466617,0.19044612], [-0.72536102, 0.00100494, 0.68836792], ]
+geo0.valid = True
+
+geo1 = LighthouseBsGeometry()
+geo1.origin = [0, 0, 0]
+geo1.rotation_matrix = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+geo1.valid = False
+
+calib0 = LighthouseBsCalibration()
+calib0.sweeps[0].tilt = -0.047353
+calib0.sweeps[0].phase = 0.000000
+calib0.sweeps[0].curve = 0.478887
+calib0.sweeps[0].gibphase = 1.023093
+calib0.sweeps[0].gibmag = 0.005071
+calib0.sweeps[0].ogeephase = 1.136886
+calib0.sweeps[0].ogeemag = -0.520102
+calib0.sweeps[1].tilt = 0.049104
+calib0.sweeps[1].phase = -0.006642
+calib0.sweeps[1].curve = 0.675827
+calib0.sweeps[1].gibphase = 2.367835
+calib0.sweeps[1].gibmag = 0.004907
+calib0.sweeps[1].ogeephase = 1.900456
+calib0.sweeps[1].ogeemag = -0.457289
+calib0.uid = 0x3C65D22F
+calib0.valid = True
+
+calib1 = LighthouseBsCalibration()
+calib1.sweeps[0].tilt = -0.048959
+calib1.sweeps[0].phase = 0.000000
+calib1.sweeps[0].curve = 0.144913
+calib1.sweeps[0].gibphase = 1.288635
+calib1.sweeps[0].gibmag = -0.005397
+calib1.sweeps[0].ogeephase = 2.004001
+calib1.sweeps[0].ogeemag = 0.033096
+calib1.sweeps[1].tilt = 0.047509
+calib1.sweeps[1].phase = -0.004676
+calib1.sweeps[1].curve = 0.374379
+calib1.sweeps[1].gibphase = 1.727613
+calib1.sweeps[1].gibmag = -0.005642
+calib1.sweeps[1].ogeephase = 2.586835
+calib1.sweeps[1].ogeemag = 0.117884
+calib1.uid = 0x34C2AD7E
+calib1.valid = True
+
+
+logging.basicConfig(level=logging.ERROR)
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+WriteMem(uri,
+    {
+        0: geo0,
+        1: geo1,
+    },
+    {
+        0: calib0,
+        1: calib1,
+    })
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/upload_config.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/upload_config.py
new file mode 100755
index 0000000000000000000000000000000000000000..63b4af9c765c715c231f68b21b1fa310f07fdc4b
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/lighthouse/upload_config.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+#  ,---------,       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Crazyflie control firmware
+#
+#  Copyright (C) 2021 Bitcraze AB
+#
+#  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, in version 3.
+#
+#  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.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program. If not, see <http://www.gnu.org/licenses/>.
+#
+#
+#  Upload geometry and calibration data to the Crazyflie storage
+#
+#  This script reads geometry and calibration data from a system configuration
+#  file, usually created from the client. The data is uploaded to a crazyflie and
+#  written to the data to persistant memory to make it available after
+#  re-boot.
+#
+#  This functionality can also be executed from the client, but this
+#  script is handy when uploading configurations to a swarm for instance.
+
+import argparse
+import logging
+from threading import Event
+
+import cflib.crtp  # noqa
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.localization import LighthouseConfigWriter
+
+
+class WriteMem:
+    def __init__(self, uri, file_name):
+        self._event = Event()
+
+        with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
+            writer = LighthouseConfigWriter(scf.cf)
+            writer.write_and_store_config_from_file(self._data_written, file_name)
+            self._event.wait()
+
+    def _data_written(self, sucess):
+        print('Data written')
+        self._event.set()
+
+
+uri = 'radio://0/80'
+
+parser = argparse.ArgumentParser(description='Uploads a lighthouse system conficuration to a Crazyflie')
+parser.add_argument('config_file', help='the file name of the configuration file to load')
+parser.add_argument('--uri', help='uri to use when connecting to the Crazyflie. Default: ' + uri)
+args = parser.parse_args()
+if args.uri:
+    uri = args.uri
+
+# Only output errors from the logging framework
+logging.basicConfig(level=logging.ERROR)
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+WriteMem(uri, args.config_file)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/COMMON.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/COMMON.ld
new file mode 100644
index 0000000000000000000000000000000000000000..f7adaf2fda1adf8a52650d3dbdfcd7cb1e26cd02
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/COMMON.ld
@@ -0,0 +1,204 @@
+/*
+Common part of the linker scripts for STM32 devices
+Copyright RAISONANCE 2009
+You can use, modify and distribute this file freely, but without any waranty.
+*/
+
+
+/* default stack sizes. 
+
+These are used by the startup in order to allocate stacks for the different modes.
+*/
+
+__Stack_Size = 1024 ;
+
+PROVIDE ( _Stack_Size = __Stack_Size ) ;
+
+__Stack_Init = _estack  - __Stack_Size ;
+
+/*"PROVIDE" allows to easily override these values from an object file or the commmand line.*/
+PROVIDE ( _Stack_Init = __Stack_Init ) ;
+
+/*
+There will be a link error if there is not this amount of RAM free at the end.
+*/
+_Minimum_Stack_Size = 0x100 ;
+
+
+
+/*
+this sends all unreferenced IRQHandlers to reset
+*/
+
+
+PROVIDE (   Undefined_Handler = 0 ) ;
+PROVIDE (   SWI_Handler = 0 ) ;
+PROVIDE (   IRQ_Handler = 0 ) ;
+PROVIDE (   Prefetch_Handler = 0 ) ;
+PROVIDE (   Abort_Handler = 0 ) ;
+PROVIDE (   FIQ_Handler = 0 ) ;
+
+PROVIDE (   NMIException = 0 ) ;
+PROVIDE (   NMI_Handler = 0 ) ;
+PROVIDE (   HardFaultException = 0 ) ;
+PROVIDE (   HardFault_Handler = 0 ) ;
+PROVIDE (   MemManageException = 0 ) ;
+PROVIDE (   MemManage_Handler = 0 ) ;
+PROVIDE (   BusFaultException = 0 ) ;
+PROVIDE (   BusFault_Handler = 0 ) ;
+PROVIDE (   UsageFaultException = 0 ) ;
+PROVIDE (   UsageFault_Handler = 0 ) ;
+
+PROVIDE (   SVCHandler = 0 ) ;
+PROVIDE (   SVC_Handler = 0 ) ;
+PROVIDE (   DebugMonitor = 0 ) ;
+PROVIDE (   DebugMon_Handler = 0 ) ;
+PROVIDE (   PendSVC = 0 ) ;
+PROVIDE (   PendSV_Handler = 0 ) ;
+PROVIDE (   SysTickHandler = 0 ) ;
+PROVIDE (   SysTick_Handler = 0 ) ;
+
+PROVIDE (   WWDG_IRQHandler = 0 ) ;
+PROVIDE (   PVD_IRQHandler = 0 ) ;
+PROVIDE (   TAMPER_IRQHandler = 0 ) ;
+PROVIDE (   RTC_IRQHandler = 0 ) ;
+PROVIDE (   FLASH_IRQHandler = 0 ) ;
+PROVIDE (   RCC_IRQHandler = 0 ) ;
+PROVIDE (   EXTI0_IRQHandler = 0 ) ;
+PROVIDE (   EXTI1_IRQHandler = 0 ) ;
+PROVIDE (   EXTI2_IRQHandler = 0 ) ;
+PROVIDE (   EXTI3_IRQHandler = 0 ) ;
+PROVIDE (   EXTI4_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel1_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel2_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel3_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel4_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel5_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel6_IRQHandler = 0 ) ;
+PROVIDE (   DMAChannel7_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel1_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel2_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel3_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel4_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel5_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel6_IRQHandler = 0 ) ;
+PROVIDE (   DMA1_Channel7_IRQHandler = 0 ) ;
+PROVIDE (   ADC_IRQHandler = 0 ) ;
+PROVIDE (   ADC1_2_IRQHandler = 0 ) ;
+PROVIDE (   USB_HP_CAN_TX_IRQHandler = 0 ) ;
+PROVIDE (   USB_HP_CAN1_TX_IRQHandler = 0 ) ;
+PROVIDE (   USB_LP_CAN_RX0_IRQHandler = 0 ) ;
+PROVIDE (   USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
+PROVIDE (   CAN_RX1_IRQHandler = 0 ) ;
+PROVIDE (   CAN1_RX1_IRQHandler = 0 ) ;
+PROVIDE (   CAN_SCE_IRQHandler = 0 ) ;
+PROVIDE (   CAN1_SCE_IRQHandler = 0 ) ;
+PROVIDE (   EXTI9_5_IRQHandler = 0 ) ;
+PROVIDE (   TIM1_BRK_IRQHandler = 0 ) ;
+PROVIDE (   TIM1_UP_IRQHandler = 0 ) ;
+PROVIDE (   TIM1_TRG_COM_IRQHandler = 0 ) ;
+PROVIDE (   TIM1_CC_IRQHandler = 0 ) ;
+PROVIDE (   TIM2_IRQHandler = 0 ) ;
+PROVIDE (   TIM3_IRQHandler = 0 ) ;
+PROVIDE (   TIM4_IRQHandler = 0 ) ;
+PROVIDE (   I2C1_EV_IRQHandler = 0 ) ;
+PROVIDE (   I2C1_ER_IRQHandler = 0 ) ;
+PROVIDE (   I2C2_EV_IRQHandler = 0 ) ;
+PROVIDE (   I2C2_ER_IRQHandler = 0 ) ;
+PROVIDE (   SPI1_IRQHandler = 0 ) ;
+PROVIDE (   SPI2_IRQHandler = 0 ) ;
+PROVIDE (   USART1_IRQHandler = 0 ) ;
+PROVIDE (   USART2_IRQHandler = 0 ) ;
+PROVIDE (   USART3_IRQHandler = 0 ) ;
+PROVIDE (   EXTI15_10_IRQHandler = 0 ) ;
+PROVIDE (   RTCAlarm_IRQHandler = 0 ) ;
+PROVIDE (   USBWakeUp_IRQHandler = 0 ) ;
+PROVIDE (   TIM8_BRK_IRQHandler = 0 ) ;
+PROVIDE (   TIM8_UP_IRQHandler = 0 );
+PROVIDE (   TIM8_TRG_COM_IRQHandler = 0 ) ;
+PROVIDE (   TIM8_CC_IRQHandler = 0 ) ;
+PROVIDE (   ADC3_IRQHandler = 0 ) ;
+PROVIDE (   FSMC_IRQHandler = 0 ) ;
+PROVIDE (   SDIO_IRQHandler = 0 ) ;
+PROVIDE (   TIM5_IRQHandler = 0 ) ;
+PROVIDE (   SPI3_IRQHandler = 0 ) ;
+PROVIDE (   UART4_IRQHandler = 0 ) ;
+PROVIDE (   UART5_IRQHandler = 0 ) ;
+PROVIDE (   TIM6_IRQHandler = 0 ) ;
+PROVIDE (   TIM7_IRQHandler = 0 ) ;
+PROVIDE (   DMA2_Channel1_IRQHandler = 0 ) ;
+PROVIDE (   DMA2_Channel2_IRQHandler = 0 ) ;
+PROVIDE (   DMA2_Channel3_IRQHandler = 0 ) ;
+PROVIDE (   DMA2_Channel4_5_IRQHandler = 0 ) ;
+
+
+
+/******************************************************************************/
+/*                       Peripheral memory map                                */
+/******************************************************************************/
+/*this allows to compile the ST lib in "non-debug" mode*/
+
+
+/* Peripheral and SRAM base address in the alias region */
+PERIPH_BB_BASE        = 0x42000000;
+SRAM_BB_BASE          = 0x22000000;
+
+/* Peripheral and SRAM base address in the bit-band region */
+SRAM_BASE             = 0x20000000;
+PERIPH_BASE           = 0x40000000;
+
+/* Flash registers base address */
+PROVIDE ( FLASH_BASE            = 0x40022000);
+/* Flash Option Bytes base address */
+PROVIDE ( OB_BASE               = 0x1FFFF800);
+
+/* Peripheral memory map */
+APB1PERIPH_BASE      = PERIPH_BASE  ;
+APB2PERIPH_BASE      = (PERIPH_BASE + 0x10000) ;
+AHBPERIPH_BASE       = (PERIPH_BASE + 0x20000) ;
+
+PROVIDE ( TIM2            = (APB1PERIPH_BASE + 0x0000) ) ;
+PROVIDE ( TIM3            = (APB1PERIPH_BASE + 0x0400) ) ;
+PROVIDE ( TIM4            = (APB1PERIPH_BASE + 0x0800) ) ;
+PROVIDE ( RTC             = (APB1PERIPH_BASE + 0x2800) ) ;
+PROVIDE ( WWDG            = (APB1PERIPH_BASE + 0x2C00) ) ;
+PROVIDE ( IWDG            = (APB1PERIPH_BASE + 0x3000) ) ;
+PROVIDE ( SPI2            = (APB1PERIPH_BASE + 0x3800) ) ;
+PROVIDE ( USART2          = (APB1PERIPH_BASE + 0x4400) ) ;
+PROVIDE ( USART3          = (APB1PERIPH_BASE + 0x4800) ) ;
+PROVIDE ( I2C1            = (APB1PERIPH_BASE + 0x5400) ) ;
+PROVIDE ( I2C2            = (APB1PERIPH_BASE + 0x5800) ) ;
+PROVIDE ( CAN             = (APB1PERIPH_BASE + 0x6400) ) ;
+PROVIDE ( BKP             = (APB1PERIPH_BASE + 0x6C00) ) ;
+PROVIDE ( PWR             = (APB1PERIPH_BASE + 0x7000) ) ;
+
+PROVIDE ( AFIO            = (APB2PERIPH_BASE + 0x0000) ) ;
+PROVIDE ( EXTI            = (APB2PERIPH_BASE + 0x0400) ) ;
+PROVIDE ( GPIOA           = (APB2PERIPH_BASE + 0x0800) ) ;
+PROVIDE ( GPIOB           = (APB2PERIPH_BASE + 0x0C00) ) ;
+PROVIDE ( GPIOC           = (APB2PERIPH_BASE + 0x1000) ) ;
+PROVIDE ( GPIOD           = (APB2PERIPH_BASE + 0x1400) ) ;
+PROVIDE ( GPIOE           = (APB2PERIPH_BASE + 0x1800) ) ;
+PROVIDE ( ADC1            = (APB2PERIPH_BASE + 0x2400) ) ;
+PROVIDE ( ADC2            = (APB2PERIPH_BASE + 0x2800) ) ;
+PROVIDE ( TIM1            = (APB2PERIPH_BASE + 0x2C00) ) ;
+PROVIDE ( SPI1            = (APB2PERIPH_BASE + 0x3000) ) ;
+PROVIDE ( USART1          = (APB2PERIPH_BASE + 0x3800) ) ;
+
+PROVIDE ( DMA             = (AHBPERIPH_BASE + 0x0000) ) ;
+PROVIDE ( DMA_Channel1    = (AHBPERIPH_BASE + 0x0008) ) ;
+PROVIDE ( DMA_Channel2    = (AHBPERIPH_BASE + 0x001C) ) ;
+PROVIDE ( DMA_Channel3    = (AHBPERIPH_BASE + 0x0030) ) ;
+PROVIDE ( DMA_Channel4    = (AHBPERIPH_BASE + 0x0044) ) ;
+PROVIDE ( DMA_Channel5    = (AHBPERIPH_BASE + 0x0058) ) ;
+PROVIDE ( DMA_Channel6    = (AHBPERIPH_BASE + 0x006C) ) ;
+PROVIDE ( DMA_Channel7    = (AHBPERIPH_BASE + 0x0080) ) ;
+PROVIDE ( RCC             = (AHBPERIPH_BASE + 0x1000) ) ;
+
+/* System Control Space memory map */
+SCS_BASE              = 0xE000E000;
+
+PROVIDE ( SysTick         = (SCS_BASE + 0x0010) ) ;
+PROVIDE ( NVIC            = (SCS_BASE + 0x0100) ) ;
+PROVIDE ( SCB             = (SCS_BASE + 0x0D00) ) ;
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF.ld
new file mode 100644
index 0000000000000000000000000000000000000000..8e8b739bb271ce085b647a11c55ecd8c85a2bf17
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF.ld
@@ -0,0 +1,26 @@
+/*
+Linker subscript for STM32F103 definitions with 32K Flash and 20K RAM
+Copyright RAISONANCE 2007-2009
+!!! This file is automatically generated by Ride !!!
+Do not modify it, as it will be erased at every link.
+You can use, copy and distribute this file freely, but without any waranty.
+*/
+
+/* Memory Spaces Definitions */
+
+MEMORY
+{
+  RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
+  CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
+  FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
+  FLASHPATCH (r) : ORIGIN = 0x00000000, LENGTH = 0
+  ENDFLASH (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  FLASHB1  (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB0 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB1 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB2 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB3 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+}
+
+/* higher address of the user mode stack */
+_estack = 0x2001FFFF;
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF_CLOAD.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF_CLOAD.ld
new file mode 100644
index 0000000000000000000000000000000000000000..f63dab1c2f9caef42d43f71333f95bf1787e2d54
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/DEF_CLOAD.ld
@@ -0,0 +1,26 @@
+/*
+Linker subscript for STM32F405 definitions with 1M Flash and 128K RAM
+Copyright RAISONANCE 2007-2009
+!!! This file is automatically generated by Ride !!!
+Do not modify it, as it will be erased at every link.
+You can use, copy and distribute this file freely, but without any waranty.
+*/
+
+/* Memory Spaces Definitions */
+
+MEMORY
+{
+  RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
+  CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
+  FLASH (rx) : ORIGIN = 0x8004000, LENGTH = 1008K
+  FLASHPATCH (r) : ORIGIN = 0x00000000, LENGTH = 0
+  ENDFLASH (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  FLASHB1  (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB0 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB1 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB2 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+  EXTMEMB3 (rx)  : ORIGIN = 0x00000000, LENGTH = 0
+}
+
+/* higher address of the user mode stack */
+_estack = 0x2001FFFF;
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH.ld
new file mode 100644
index 0000000000000000000000000000000000000000..7dc8434be583aed2a5e2d06cc4d7c31838c654c2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH.ld
@@ -0,0 +1,21 @@
+/*
+Default secondary/main linker script for STM32F103_32K_20K
+Copyright RAISONANCE S.A.S. 2007-2009
+
+!!! This file is automatically generated by Ride if the default linker script option is active !!!
+
+Do not modify it if the option is set, as it will be erased at every link.
+If you need to use your own script please configure your Ride7 project linker options to use your custom linker script
+You can take this one as example for wrting your custom linker script
+You can use, copy and distribute this file freely, but without any waranty.*/
+
+SEARCH_DIR("./tools/make/F405/linker")
+
+/* include the common STMxxx sub-script */
+INCLUDE "COMMON.ld"
+
+/* include the memory spaces definitions sub-script */
+INCLUDE "DEF.ld"
+
+/* include the sections management sub-script for FLASH mode */
+INCLUDE "sections_FLASH.ld"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH_CLOAD.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH_CLOAD.ld
new file mode 100644
index 0000000000000000000000000000000000000000..2ecaaadd02d35c51b189abcdf6fc04d2ecb60b22
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/FLASH_CLOAD.ld
@@ -0,0 +1,21 @@
+/*
+Default secondary/main linker script for STM32F103_32K_20K
+Copyright RAISONANCE S.A.S. 2007-2009
+
+!!! This file is automatically generated by Ride if the default linker script option is active !!!
+
+Do not modify it if the option is set, as it will be erased at every link.
+If you need to use your own script please configure your Ride7 project linker options to use your custom linker script
+You can take this one as example for wrting your custom linker script
+You can use, copy and distribute this file freely, but without any waranty.*/
+
+SEARCH_DIR("./tools/make/F405/linker")
+
+/* include the common STMxxx sub-script */
+INCLUDE "COMMON.ld"
+
+/* include the memory spaces definitions sub-script */
+INCLUDE "DEF_CLOAD.ld"
+
+/* include the sections management sub-script for FLASH mode */
+INCLUDE "sections_FLASH.ld"
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/sections_FLASH.ld b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/sections_FLASH.ld
new file mode 100644
index 0000000000000000000000000000000000000000..fb51fff8b22fee928e4438e7bc33a3e6a4d7f20a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/linker/sections_FLASH.ld
@@ -0,0 +1,304 @@
+/*
+Common part of the linker scripts for STR71x devices in FLASH mode
+(that is, the FLASH is seen at 0)
+Copyright RAISONANCE 2005
+You can use, modify and distribute thisfile freely, but without any waranty.
+*/
+
+
+
+/* Sections Definitions */
+
+SECTIONS
+{
+    /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
+    .isr_vector :
+    {
+	. = ALIGN(4);
+        KEEP(*(.isr_vector))            /* Startup code */
+	. = ALIGN(4);
+    } >FLASH
+
+    /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
+    .flashtext :
+    {
+	. = ALIGN(4);
+        *(.flashtext)            /* Startup code */
+	. = ALIGN(4);
+    } >FLASH
+
+
+    /* the program code is stored in the .text section, which goes to Flash */
+    .text :
+    {
+	    . = ALIGN(4);
+
+        *(.text)                   /* remaining code */
+        *(.text.*)                 /* remaining code */
+        *(.rodata)                 /* read-only data (constants) */
+        *(.rodata*)
+        *(.glue_7)
+        *(.glue_7t)
+
+        /* Some stuff of CodeSourcery? */
+        *(.init)
+        *(.fini)
+        *(.eh_frame)
+
+        /* Parameters */
+        . = ALIGN(4);
+        _param_start = .;
+        KEEP(*(.param))
+        KEEP(*(.param.*))
+        _param_stop = .;
+        /* Logging */
+        . = ALIGN(4);
+        _log_start = .;
+        KEEP(*(.log))
+        KEEP(*(.log.*))
+        _log_stop = .;
+        /* Decks */
+	    . = ALIGN(4);
+        _deckDriver_start = .;
+        KEEP(*(.deckDriver));
+        KEEP(*(.deckDriver.*));
+        _deckDriver_stop = .;
+        /* Event Triggers */
+	    . = ALIGN(4);
+        _eventtrigger_start = .;
+        KEEP(*(.eventtrigger));
+        KEEP(*(.eventtrigger.*));
+        _eventtrigger_stop = .;
+
+   	 _etext = .;
+    } >FLASH
+
+    .libc :
+    {
+      . = ALIGN(4);
+      *(.ARM.exidx*)
+      . = ALIGN(4);
+
+      _elibc = .;
+    } >FLASH
+
+    /* for some LPC devices, there is a FLASH patch to place at a specified address */
+    .flashpatch :
+    {
+	. = ALIGN(4);
+        KEEP(*(.flashpatch))            /* flashpatch data */
+	. = ALIGN(4);
+    } >FLASHPATCH
+
+    /* for some LPC devices, there is a FLASH patch to place at a specified address
+    and then there is the rest of the flash */
+    .endflash :
+    {
+	. = ALIGN(4);
+        *(.endflash)            /* endflash code */
+	. = ALIGN(4);
+    } >ENDFLASH
+
+    /* This is the initialized data section
+    The program executes knowing that the data is in the RAM
+    but the loader puts the initial values in the FLASH (inidata).
+    It is one task of the startup to copy the initial values from FLASH to RAM. */
+
+    .data  :
+    {
+	    . = ALIGN(4);
+        /* This is used by the startup in order to initialize the .data secion */
+        _sdata = . ;
+
+        *(.data)
+        *(.data.*)
+        *(.RAMtext)
+
+	    . = ALIGN(4);
+	    /* This is used by the startup in order to initialize the .data secion */
+   	 _edata = . ;
+    } >RAM AT> FLASH
+
+    /* The address where initialization data is stored in flash, used by the start up to copy init data from flash to RAM */
+    _sidata = LOADADDR(.data);
+
+
+    /* This is the uninitialized data section. This memory is zeroed at start up */
+    .bss :
+    {
+	    . = ALIGN(4);
+        /* This is used by the startup in order to initialize the .bss secion */
+        _sbss = .;
+
+        *(.bss)
+        *(.bss.*)
+        *(COMMON)
+
+	    . = ALIGN(4);
+	    /* This is used by the startup in order to initialize the .bss secion */
+   	 _ebss = . ;
+    } >RAM
+
+
+    /* This is the uninitialized data section for the CCM RAM. This memory is zeroed at start up */
+    .ccmbss (NOLOAD) :
+    {
+	    . = ALIGN(4);
+        /* This is used by the startup in order to initialize the .bss secion */
+        _sccmbss = .;
+        *(.ccmbss)
+        *(.ccmbss*)
+
+	    . = ALIGN(4);
+	    /* This is used by the startup in order to initialize the .bss secion */
+   	 _eccmbss = .;
+    } >CCMRAM
+
+    /* This is the initialized data section for the CCM RAM
+    The program executes knowing that the data is in the CCM RAM
+    but the loader puts the initial values in the FLASH.
+    It is one task of the startup to copy the initial values from FLASH to RAM. */
+    .ccmdata :
+    {
+        . = ALIGN(4);
+        _sccmdata = .;        /* create a global symbol at data start */
+        *(.ccmdata)
+        *(.ccmdata*)
+
+        . = ALIGN(4);
+        _eccmdata = .;        /* define a global symbol at data end */
+    } >CCMRAM AT> FLASH
+
+    /* The address where initialization data is stored in flash, used by the start up to copy init data from flash to RAM */
+    _siccmdata = LOADADDR(.ccmdata);
+
+
+    /* This is uninitialized data that is NOT zeroed at start up. */
+    .nzds :
+    {
+	    . = ALIGN(4);
+        _snzds = .;
+
+        *(.nzds)
+        *(.nzds.*)
+        *(COMMON)
+
+	    . = ALIGN(4);
+   	 _enzds = . ;
+    } >RAM
+
+
+    PROVIDE ( end = _enzds );
+    PROVIDE ( _end = _enzds );
+
+
+    /* This is the user stack section
+    This is just to check that there is enough RAM left for the User mode stack
+    It should generate an error if it's full.
+     */
+    ._usrstack :
+    {
+	    . = ALIGN(4);
+        _susrstack = . ;
+
+        . = . + _Minimum_Stack_Size ;
+
+	    . = ALIGN(4);
+        _eusrstack = . ;
+    } >RAM
+
+
+
+    /* this is the FLASH Bank1 */
+    /* the C or assembly source must explicitly place the code or data there
+    using the "section" attribute */
+    .b1text :
+    {
+        *(.b1text)                   /* remaining code */
+        *(.b1rodata)                 /* read-only data (constants) */
+        *(.b1rodata*)
+    } >FLASHB1
+
+    /* this is the EXTMEM */
+    /* the C or assembly source must explicitly place the code or data there
+    using the "section" attribute */
+
+    /* EXTMEM Bank0 */
+    .eb0text :
+    {
+        *(.eb0text)                   /* remaining code */
+        *(.eb0rodata)                 /* read-only data (constants) */
+        *(.eb0rodata*)
+    } >EXTMEMB0
+
+    /* EXTMEM Bank1 */
+    .eb1text :
+    {
+        *(.eb1text)                   /* remaining code */
+        *(.eb1rodata)                 /* read-only data (constants) */
+        *(.eb1rodata*)
+    } >EXTMEMB1
+
+    /* EXTMEM Bank2 */
+    .eb2text :
+    {
+        *(.eb2text)                   /* remaining code */
+        *(.eb2rodata)                 /* read-only data (constants) */
+        *(.eb2rodata*)
+    } >EXTMEMB2
+
+    /* EXTMEM Bank0 */
+    .eb3text :
+    {
+        *(.eb3text)                   /* remaining code */
+        *(.eb3rodata)                 /* read-only data (constants) */
+        *(.eb3rodata*)
+    } >EXTMEMB3
+
+    __exidx_start = .;
+    __exidx_end = .;
+
+    /* after that it's only debugging information. */
+
+    /* remove the debugging information from the standard libraries */
+    /DISCARD/ :
+    {
+     libc.a ( * )
+     libm.a ( * )
+     libgcc.a ( * )
+     }
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/st_obj.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/st_obj.mk
new file mode 100644
index 0000000000000000000000000000000000000000..7b8077b42b148c20da12abbdc79b7bfb73b31703
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/st_obj.mk
@@ -0,0 +1,30 @@
+# st_obj.mk - Selection of the ST library objects to compile
+# This file is part of the Crazy Flie control program
+# Copyright (c) 2009, EAT-IT
+
+VPATH+=$(LIB)/STM32F4xx_StdPeriph_Driver/src/
+ST_OBJ=
+#ST_OBJ+=misc.o
+ST_OBJ+=stm32f4xx_adc.o
+#ST_OBJ+=stm32f4xx_bkp.o
+#ST_OBJ+=stm32f4xx_can.o
+#ST_OBJ+=stm32f4xx_crc.o
+#ST_OBJ+=stm32f4xx_dac.o
+ST_OBJ+=stm32f4xx_dbgmcu.o
+ST_OBJ+=stm32f4xx_dma.o
+ST_OBJ+=stm32f4xx_exti.o
+ST_OBJ+=stm32f4xx_flash.o
+#ST_OBJ+=stm32f4xx_fsmc.o
+ST_OBJ+=stm32f4xx_gpio.o
+ST_OBJ+=stm32f4xx_i2c.o
+ST_OBJ+=stm32f4xx_iwdg.o
+#ST_OBJ+=stm32f4xx_pwr.o
+ST_OBJ+=stm32f4xx_rcc.o
+#ST_OBJ+=stm32f4xx_rtc.o
+#ST_OBJ+=stm32f4xx_sdio.o
+ST_OBJ+=stm32f4xx_spi.o
+ST_OBJ+=stm32f4xx_tim.o
+ST_OBJ+=stm32f4xx_usart.o
+ST_OBJ+=stm32f4xx_misc.o
+#ST_OBJ+=stm32f4xx_wwdg.o
+ST_OBJ+=stm32f4xx_syscfg.o
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4discovery.cfg b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4discovery.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..ae54e18c470c7aa03b90741528423d4a13d65c91
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4discovery.cfg
@@ -0,0 +1,9 @@
+# This is an STM32F4 discovery board with a single STM32F407VGT6 chip.
+# http://www.st.com/internet/evalboard/product/252419.jsp
+
+source [find interface/stlink-v2.cfg]
+
+source [find target/stm32f4x_stlink.cfg]
+
+# use hardware reset, connect under reset
+reset_config srst_only srst_nogate
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4x_stlink.cfg b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4x_stlink.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..2308c51c40aac12253fe510a71ba365c33eb8138
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/F405/stm32f4x_stlink.cfg
@@ -0,0 +1,21 @@
+#
+# STM32f4x stlink pseudo target
+#
+
+if { [info exists CHIPNAME] == 0 } {
+   set CHIPNAME stm32f4x
+}
+
+if { [info exists CPUTAPID] == 0 } {
+   set CPUTAPID 0x2ba01477
+}
+
+if { [info exists WORKAREASIZE] == 0 } {
+   set WORKAREASIZE 0x10000
+}
+
+source [find target/stm32_stlink.cfg]
+
+# stm32f4x family uses stm32f2x driver
+set _FLASHNAME $_CHIPNAME.flash
+flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/check-for-submodules.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/check-for-submodules.py
new file mode 100755
index 0000000000000000000000000000000000000000..76827a40422c701e46e119b65ad013d1fac93284
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/check-for-submodules.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+
+from subprocess import check_output
+import sys
+
+# Get the status of the submodules from git. If any of the submodules start
+# with "-" then the module is not initalized. Issue a warning.
+
+result = str(check_output(["git", "submodule", "status"]))
+lines = result.split("\n")
+
+initialized = True
+for line in lines:
+    if len(line) > 0 and line[0] == '-':
+        initialized = False
+
+if not initialized:
+    print('ERROR: One or more of the git submodules are not initialized. Try')
+    print('    git submodule init')
+    print('    git submodule update')
+    sys.exit(-1)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/Makefile b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d0894f0be84caa7085ba811e693e80127eb01467
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/Makefile
@@ -0,0 +1,38 @@
+include obj.mk
+
+BIN=$(PROJ_ROOT)/bin/vendor
+PROJ_BIN=$(PROJ_ROOT)/bin
+CMSIS_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Core/Include
+DSP_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Include
+DSP_SRC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Source
+
+VPATH += $(BIN)
+VPATH += $(DSP_SRC)/BasicMathFunctions/
+VPATH += $(DSP_SRC)/CommonTables/
+VPATH += $(DSP_SRC)/ComplexMathFunctions/
+VPATH += $(DSP_SRC)/ControllerFunctions/
+VPATH += $(DSP_SRC)/FastMathFunctions/
+VPATH += $(DSP_SRC)/FilteringFunctions/
+VPATH += $(DSP_SRC)/MatrixFunctions/
+VPATH += $(DSP_SRC)/StatisticsFunctions/
+VPATH += $(DSP_SRC)/SupportFunctions/
+VPATH += $(DSP_SRC)/TransformFunctions/
+
+
+LIB=$(PROJ_BIN)/libarm_math.a
+
+CFLAGS = -O2 -I$(CMSIS_INC) -I$(DSP_INC) -std=c11
+CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+CFLAGS += -DARM_MATH_CM4 -D__FPU_PRESENT=1 -ffunction-sections -fdata-sections
+
+CROSS_COMPILE     ?= arm-none-eabi-
+CC = $(CROSS_COMPILE)gcc
+AR = $(CROSS_COMPILE)ar
+
+all: $(LIB)
+
+$(LIB): $(DSP_OBJ) #$(foreach o,$(DSP_OBJ),$(BIN)/$(o))
+	@$(AR) rcs $@ $(foreach o,$(DSP_OBJ),$(BIN)/$(o))
+	@echo "  AR    libarm_math.a"
+
+include ../targets.mk
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/obj.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/obj.mk
new file mode 100644
index 0000000000000000000000000000000000000000..cd7a85719e5d9c473e7799fd7d09e06273641096
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/cmsis_dsp/obj.mk
@@ -0,0 +1,272 @@
+DSP_OBJ += arm_abs_f32.o
+DSP_OBJ += arm_abs_q15.o
+DSP_OBJ += arm_abs_q31.o
+DSP_OBJ += arm_abs_q7.o
+DSP_OBJ += arm_add_f32.o
+DSP_OBJ += arm_add_q15.o
+DSP_OBJ += arm_add_q31.o
+DSP_OBJ += arm_add_q7.o
+DSP_OBJ += arm_biquad_cascade_df1_32x64_init_q31.o
+DSP_OBJ += arm_biquad_cascade_df1_32x64_q31.o
+DSP_OBJ += arm_biquad_cascade_df1_f32.o
+DSP_OBJ += arm_biquad_cascade_df1_fast_q15.o
+DSP_OBJ += arm_biquad_cascade_df1_fast_q31.o
+DSP_OBJ += arm_biquad_cascade_df1_init_f32.o
+DSP_OBJ += arm_biquad_cascade_df1_init_q15.o
+DSP_OBJ += arm_biquad_cascade_df1_init_q31.o
+DSP_OBJ += arm_biquad_cascade_df1_q15.o
+DSP_OBJ += arm_biquad_cascade_df1_q31.o
+DSP_OBJ += arm_biquad_cascade_df2T_f32.o
+DSP_OBJ += arm_biquad_cascade_df2T_f64.o
+DSP_OBJ += arm_biquad_cascade_df2T_init_f32.o
+DSP_OBJ += arm_biquad_cascade_df2T_init_f64.o
+DSP_OBJ += arm_biquad_cascade_stereo_df2T_f32.o
+DSP_OBJ += arm_biquad_cascade_stereo_df2T_init_f32.o
+DSP_OBJ += arm_bitreversal.o
+DSP_OBJ += arm_bitreversal2.o
+DSP_OBJ += arm_cfft_f32.o
+DSP_OBJ += arm_cfft_q15.o
+DSP_OBJ += arm_cfft_q31.o
+DSP_OBJ += arm_cfft_radix2_f32.o
+DSP_OBJ += arm_cfft_radix2_init_f32.o
+DSP_OBJ += arm_cfft_radix2_init_q15.o
+DSP_OBJ += arm_cfft_radix2_init_q31.o
+DSP_OBJ += arm_cfft_radix2_q15.o
+DSP_OBJ += arm_cfft_radix2_q31.o
+DSP_OBJ += arm_cfft_radix4_f32.o
+DSP_OBJ += arm_cfft_radix4_init_f32.o
+DSP_OBJ += arm_cfft_radix4_init_q15.o
+DSP_OBJ += arm_cfft_radix4_init_q31.o
+DSP_OBJ += arm_cfft_radix4_q15.o
+DSP_OBJ += arm_cfft_radix4_q31.o
+DSP_OBJ += arm_cfft_radix8_f32.o
+DSP_OBJ += arm_cmplx_conj_f32.o
+DSP_OBJ += arm_cmplx_conj_q15.o
+DSP_OBJ += arm_cmplx_conj_q31.o
+DSP_OBJ += arm_cmplx_dot_prod_f32.o
+DSP_OBJ += arm_cmplx_dot_prod_q15.o
+DSP_OBJ += arm_cmplx_dot_prod_q31.o
+DSP_OBJ += arm_cmplx_mag_f32.o
+DSP_OBJ += arm_cmplx_mag_q15.o
+DSP_OBJ += arm_cmplx_mag_q31.o
+DSP_OBJ += arm_cmplx_mag_squared_f32.o
+DSP_OBJ += arm_cmplx_mag_squared_q15.o
+DSP_OBJ += arm_cmplx_mag_squared_q31.o
+DSP_OBJ += arm_cmplx_mult_cmplx_f32.o
+DSP_OBJ += arm_cmplx_mult_cmplx_q15.o
+DSP_OBJ += arm_cmplx_mult_cmplx_q31.o
+DSP_OBJ += arm_cmplx_mult_real_f32.o
+DSP_OBJ += arm_cmplx_mult_real_q15.o
+DSP_OBJ += arm_cmplx_mult_real_q31.o
+DSP_OBJ += arm_common_tables.o
+DSP_OBJ += arm_const_structs.o
+DSP_OBJ += arm_conv_f32.o
+DSP_OBJ += arm_conv_fast_opt_q15.o
+DSP_OBJ += arm_conv_fast_q15.o
+DSP_OBJ += arm_conv_fast_q31.o
+DSP_OBJ += arm_conv_opt_q15.o
+DSP_OBJ += arm_conv_opt_q7.o
+DSP_OBJ += arm_conv_partial_f32.o
+DSP_OBJ += arm_conv_partial_fast_opt_q15.o
+DSP_OBJ += arm_conv_partial_fast_q15.o
+DSP_OBJ += arm_conv_partial_fast_q31.o
+DSP_OBJ += arm_conv_partial_opt_q15.o
+DSP_OBJ += arm_conv_partial_opt_q7.o
+DSP_OBJ += arm_conv_partial_q15.o
+DSP_OBJ += arm_conv_partial_q31.o
+DSP_OBJ += arm_conv_partial_q7.o
+DSP_OBJ += arm_conv_q15.o
+DSP_OBJ += arm_conv_q31.o
+DSP_OBJ += arm_conv_q7.o
+DSP_OBJ += arm_copy_f32.o
+DSP_OBJ += arm_copy_q15.o
+DSP_OBJ += arm_copy_q31.o
+DSP_OBJ += arm_copy_q7.o
+DSP_OBJ += arm_correlate_f32.o
+DSP_OBJ += arm_correlate_fast_opt_q15.o
+DSP_OBJ += arm_correlate_fast_q15.o
+DSP_OBJ += arm_correlate_fast_q31.o
+DSP_OBJ += arm_correlate_opt_q15.o
+DSP_OBJ += arm_correlate_opt_q7.o
+DSP_OBJ += arm_correlate_q15.o
+DSP_OBJ += arm_correlate_q31.o
+DSP_OBJ += arm_correlate_q7.o
+DSP_OBJ += arm_cos_f32.o
+DSP_OBJ += arm_cos_q15.o
+DSP_OBJ += arm_cos_q31.o
+DSP_OBJ += arm_dct4_f32.o
+DSP_OBJ += arm_dct4_init_f32.o
+DSP_OBJ += arm_dct4_init_q15.o
+DSP_OBJ += arm_dct4_init_q31.o
+DSP_OBJ += arm_dct4_q15.o
+DSP_OBJ += arm_dct4_q31.o
+DSP_OBJ += arm_dot_prod_f32.o
+DSP_OBJ += arm_dot_prod_q15.o
+DSP_OBJ += arm_dot_prod_q31.o
+DSP_OBJ += arm_dot_prod_q7.o
+DSP_OBJ += arm_fill_f32.o
+DSP_OBJ += arm_fill_q15.o
+DSP_OBJ += arm_fill_q31.o
+DSP_OBJ += arm_fill_q7.o
+DSP_OBJ += arm_fir_decimate_f32.o
+DSP_OBJ += arm_fir_decimate_fast_q15.o
+DSP_OBJ += arm_fir_decimate_fast_q31.o
+DSP_OBJ += arm_fir_decimate_init_f32.o
+DSP_OBJ += arm_fir_decimate_init_q15.o
+DSP_OBJ += arm_fir_decimate_init_q31.o
+DSP_OBJ += arm_fir_decimate_q15.o
+DSP_OBJ += arm_fir_decimate_q31.o
+DSP_OBJ += arm_fir_f32.o
+DSP_OBJ += arm_fir_fast_q15.o
+DSP_OBJ += arm_fir_fast_q31.o
+DSP_OBJ += arm_fir_init_f32.o
+DSP_OBJ += arm_fir_init_q15.o
+DSP_OBJ += arm_fir_init_q31.o
+DSP_OBJ += arm_fir_init_q7.o
+DSP_OBJ += arm_fir_interpolate_f32.o
+DSP_OBJ += arm_fir_interpolate_init_f32.o
+DSP_OBJ += arm_fir_interpolate_init_q15.o
+DSP_OBJ += arm_fir_interpolate_init_q31.o
+DSP_OBJ += arm_fir_interpolate_q15.o
+DSP_OBJ += arm_fir_interpolate_q31.o
+DSP_OBJ += arm_fir_lattice_f32.o
+DSP_OBJ += arm_fir_lattice_init_f32.o
+DSP_OBJ += arm_fir_lattice_init_q15.o
+DSP_OBJ += arm_fir_lattice_init_q31.o
+DSP_OBJ += arm_fir_lattice_q15.o
+DSP_OBJ += arm_fir_lattice_q31.o
+DSP_OBJ += arm_fir_q15.o
+DSP_OBJ += arm_fir_q31.o
+DSP_OBJ += arm_fir_q7.o
+DSP_OBJ += arm_fir_sparse_f32.o
+DSP_OBJ += arm_fir_sparse_init_f32.o
+DSP_OBJ += arm_fir_sparse_init_q15.o
+DSP_OBJ += arm_fir_sparse_init_q31.o
+DSP_OBJ += arm_fir_sparse_init_q7.o
+DSP_OBJ += arm_fir_sparse_q15.o
+DSP_OBJ += arm_fir_sparse_q31.o
+DSP_OBJ += arm_fir_sparse_q7.o
+DSP_OBJ += arm_float_to_q15.o
+DSP_OBJ += arm_float_to_q31.o
+DSP_OBJ += arm_float_to_q7.o
+DSP_OBJ += arm_iir_lattice_f32.o
+DSP_OBJ += arm_iir_lattice_init_f32.o
+DSP_OBJ += arm_iir_lattice_init_q15.o
+DSP_OBJ += arm_iir_lattice_init_q31.o
+DSP_OBJ += arm_iir_lattice_q15.o
+DSP_OBJ += arm_iir_lattice_q31.o
+DSP_OBJ += arm_lms_f32.o
+DSP_OBJ += arm_lms_init_f32.o
+DSP_OBJ += arm_lms_init_q15.o
+DSP_OBJ += arm_lms_init_q31.o
+DSP_OBJ += arm_lms_norm_f32.o
+DSP_OBJ += arm_lms_norm_init_f32.o
+DSP_OBJ += arm_lms_norm_init_q15.o
+DSP_OBJ += arm_lms_norm_init_q31.o
+DSP_OBJ += arm_lms_norm_q15.o
+DSP_OBJ += arm_lms_norm_q31.o
+DSP_OBJ += arm_lms_q15.o
+DSP_OBJ += arm_lms_q31.o
+DSP_OBJ += arm_mat_add_f32.o
+DSP_OBJ += arm_mat_add_q15.o
+DSP_OBJ += arm_mat_add_q31.o
+DSP_OBJ += arm_mat_cmplx_mult_f32.o
+DSP_OBJ += arm_mat_cmplx_mult_q15.o
+DSP_OBJ += arm_mat_cmplx_mult_q31.o
+DSP_OBJ += arm_mat_init_f32.o
+DSP_OBJ += arm_mat_init_q15.o
+DSP_OBJ += arm_mat_init_q31.o
+DSP_OBJ += arm_mat_inverse_f32.o
+DSP_OBJ += arm_mat_inverse_f64.o
+DSP_OBJ += arm_mat_mult_f32.o
+DSP_OBJ += arm_mat_mult_fast_q15.o
+DSP_OBJ += arm_mat_mult_fast_q31.o
+DSP_OBJ += arm_mat_mult_q15.o
+DSP_OBJ += arm_mat_mult_q31.o
+DSP_OBJ += arm_mat_scale_f32.o
+DSP_OBJ += arm_mat_scale_q15.o
+DSP_OBJ += arm_mat_scale_q31.o
+DSP_OBJ += arm_mat_sub_f32.o
+DSP_OBJ += arm_mat_sub_q15.o
+DSP_OBJ += arm_mat_sub_q31.o
+DSP_OBJ += arm_mat_trans_f32.o
+DSP_OBJ += arm_mat_trans_q15.o
+DSP_OBJ += arm_mat_trans_q31.o
+DSP_OBJ += arm_max_f32.o
+DSP_OBJ += arm_max_q15.o
+DSP_OBJ += arm_max_q31.o
+DSP_OBJ += arm_max_q7.o
+DSP_OBJ += arm_mean_f32.o
+DSP_OBJ += arm_mean_q15.o
+DSP_OBJ += arm_mean_q31.o
+DSP_OBJ += arm_mean_q7.o
+DSP_OBJ += arm_min_f32.o
+DSP_OBJ += arm_min_q15.o
+DSP_OBJ += arm_min_q31.o
+DSP_OBJ += arm_min_q7.o
+DSP_OBJ += arm_mult_f32.o
+DSP_OBJ += arm_mult_q15.o
+DSP_OBJ += arm_mult_q31.o
+DSP_OBJ += arm_mult_q7.o
+DSP_OBJ += arm_negate_f32.o
+DSP_OBJ += arm_negate_q15.o
+DSP_OBJ += arm_negate_q31.o
+DSP_OBJ += arm_negate_q7.o
+DSP_OBJ += arm_offset_f32.o
+DSP_OBJ += arm_offset_q15.o
+DSP_OBJ += arm_offset_q31.o
+DSP_OBJ += arm_offset_q7.o
+DSP_OBJ += arm_pid_init_f32.o
+DSP_OBJ += arm_pid_init_q15.o
+DSP_OBJ += arm_pid_init_q31.o
+DSP_OBJ += arm_pid_reset_f32.o
+DSP_OBJ += arm_pid_reset_q15.o
+DSP_OBJ += arm_pid_reset_q31.o
+DSP_OBJ += arm_power_f32.o
+DSP_OBJ += arm_power_q15.o
+DSP_OBJ += arm_power_q31.o
+DSP_OBJ += arm_power_q7.o
+DSP_OBJ += arm_q15_to_float.o
+DSP_OBJ += arm_q15_to_q31.o
+DSP_OBJ += arm_q15_to_q7.o
+DSP_OBJ += arm_q31_to_float.o
+DSP_OBJ += arm_q31_to_q15.o
+DSP_OBJ += arm_q31_to_q7.o
+DSP_OBJ += arm_q7_to_float.o
+DSP_OBJ += arm_q7_to_q15.o
+DSP_OBJ += arm_q7_to_q31.o
+DSP_OBJ += arm_rfft_f32.o
+DSP_OBJ += arm_rfft_fast_f32.o
+DSP_OBJ += arm_rfft_fast_init_f32.o
+DSP_OBJ += arm_rfft_init_f32.o
+DSP_OBJ += arm_rfft_init_q15.o
+DSP_OBJ += arm_rfft_init_q31.o
+DSP_OBJ += arm_rfft_q15.o
+DSP_OBJ += arm_rfft_q31.o
+DSP_OBJ += arm_rms_f32.o
+DSP_OBJ += arm_rms_q15.o
+DSP_OBJ += arm_rms_q31.o
+DSP_OBJ += arm_scale_f32.o
+DSP_OBJ += arm_scale_q15.o
+DSP_OBJ += arm_scale_q31.o
+DSP_OBJ += arm_scale_q7.o
+DSP_OBJ += arm_shift_q15.o
+DSP_OBJ += arm_shift_q31.o
+DSP_OBJ += arm_shift_q7.o
+DSP_OBJ += arm_sin_cos_f32.o
+DSP_OBJ += arm_sin_cos_q31.o
+DSP_OBJ += arm_sin_f32.o
+DSP_OBJ += arm_sin_q15.o
+DSP_OBJ += arm_sin_q31.o
+DSP_OBJ += arm_sqrt_q15.o
+DSP_OBJ += arm_sqrt_q31.o
+DSP_OBJ += arm_std_f32.o
+DSP_OBJ += arm_std_q15.o
+DSP_OBJ += arm_std_q31.o
+DSP_OBJ += arm_sub_f32.o
+DSP_OBJ += arm_sub_q15.o
+DSP_OBJ += arm_sub_q31.o
+DSP_OBJ += arm_sub_q7.o
+DSP_OBJ += arm_var_f32.o
+DSP_OBJ += arm_var_q15.o
+DSP_OBJ += arm_var_q31.o
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/config.mk.example b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/config.mk.example
new file mode 100644
index 0000000000000000000000000000000000000000..08d5189b3ea36b0d51e9c4ee4865618db812d9ed
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/config.mk.example
@@ -0,0 +1,113 @@
+## Copy this file to config.mk and modify to get you personal build configuration
+
+## Automatically reboot to bootloader before flashing
+# CLOAD_CMDS = -w radio://0/100/2M/E7E7E7E7E7
+
+## Weight of the Crazyflie, including decks. The default setting is a Crazyflie 2.X without decks.
+# CFLAGS += -DCF_MASS=0.027f // in kg
+
+## Force device type string
+# CFLAGS += -DDEVICE_TYPE_STRING_FORCE="CF20"
+
+## Force a sensor implementation to be used
+# SENSORS=bosch
+
+## Set CRTP link to E-SKY receiver
+# CFLAGS += -DUSE_ESKYLINK
+
+## Redirect the console output to the UART
+# CFLAGS += -DDEBUG_PRINT_ON_UART
+
+## Redirect the console output to JLINK (using SEGGER RTT)
+# DEBUG_PRINT_ON_SEGGER_RTT = 1
+
+## Load a deck driver that has no OW memory
+# CFLAGS += -DDECK_FORCE=bcBuzzer
+
+## Load multiple deck drivers that has no OW memory
+# CFLAGS += -DDECK_FORCE=bcBuzzer:bcLedRing
+
+## Enable biq quad deck features
+# CFLAGS += -DENABLE_BQ_DECK
+# CFLAGS += -DBQ_DECK_ENABLE_PM
+# CFLAGS += -DBQ_DECK_ENABLE_OSD
+
+## Use morse when flashing the LED to indicate that the Crazyflie is calibrated
+# CFLAGS += -DCALIBRATED_LED_MORSE
+
+## Disable LEDs from turning on/flashing
+# CFLAGS += -DTURN_OFF_LEDS
+
+## Set the default LED Ring effect (if not set, effect 6 will be used)
+# CFLAGS += -DLEDRING_DEFAULT_EFFECT=0
+
+## Set LED Rings to use less LEDs
+# CFLAGS += -DLED_RING_NBR_LEDS=6
+
+## Set LED Rings to use less more LEDs (only if board is modified)
+# CFLAGS += -DLED_RING_NBR_LEDS=24
+
+## Do not send CRTP messages when parameter values are updated
+# CFLAGS += -DSILENT_PARAM_UPDATES
+
+## Turn on monitoring of queue usages
+# CFLAGS += -DDEBUG_QUEUE_MONITOR
+
+## Set number of anchor in LocoPositioningSystem
+# CFLAGS += -DLOCODECK_NR_OF_ANCHORS=8
+
+## Set alternative pins for LOCO deck (IRQ=IO_2, RESET=IO_3, default are RX1 and TX1)
+# CFLAGS += -DLOCODECK_USE_ALT_PINS
+
+## Set other pin for reset on the LOCO deck. Only works when LOCODECK_USE_ALT_PINS is set.
+# For instance useful with Loco + Lighhouse + Flow decks where IO_3 collides with the Flow deck
+# CFLAGS += -DLOCODECK_ALT_PIN_RESET=DECK_GPIO_IO4
+
+## Disable Low Interference Mode when using Loco Deck
+# CFLAGS += -DLOCODECK_NO_LOW_INTERFERENCE
+
+## Low interference communication
+# Set the 'low interference' 2.4GHz TX power. This power is set when the loco deck is initialized
+# Possible power are: +4, 0, -4, -8, -12, -16, -20, -30
+# CFLAGS += -DPLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM="(-12)"
+
+## Set alternative pins for uSD-deck. Patch soldering required (CS->RX2(PA3), SCLK->TX1(PC10), MISO->RX1(PC11), MOSI->IO_4(PC12))
+# CFLAGS += -DUSDDECK_USE_ALT_PINS_AND_SPI
+
+## Use J-Link as Debugger/flasher
+# OPENOCD_INTERFACE ?= interface/jlink.cfg
+# OPENOCD_TARGET    ?= target/stm32f4x.cfg
+# OPENOCD_CMDS      ?= -c "transport select swd"
+
+## LPS settings ----------------------------------------------------
+## Set operation mode of the LPS system (auto is default)
+## TWR
+# CFLAGS += -DLPS_TWR_ENABLE=1
+## TDoA2
+# LPS_TDOA_ENABLE=1
+## TDoA3
+# LPS_TDOA3_ENABLE=1
+
+## TDoA 3 - experimental
+# Enable 2D positioning. The value (1.2) is the height that the tag will move at. Only use in TDoA 3
+# CFLAGS += -DLPS_2D_POSITION_HEIGHT=1.2
+
+## Enable longer range (lower bit rate). Only use in TDoA 3
+# Note: Anchors must also be built with this flag
+# CFLAGS += -DLPS_LONGER_RANGE
+
+## Full LPS TX power.
+# CFLAGS += -DLPS_FULL_TX_POWER
+
+## SDCard test configuration ------------------------------------
+# FATFS_DISKIO_TESTS  = 1	# Set to 1 to enable FatFS diskio function tests. Erases card.
+
+## Brushless handling
+# Start disarmed, needs to be armed before being able to fly
+# CFLAGS += -DSTART_DISARMED
+# IDLE motor drive when armed, 0 = 0%, 65535 = 100% (the motors runs as long as the Crazyflie is armed)
+# CFLAGS += -DDEFAULT_IDLE_THRUST=5000
+
+## Lighthouse handling
+# If lighthouse will need to act as a ground truth (so not entered in the kalman filter)
+# CFLAGS += -DLIGHTHOUSE_AS_GROUNDTRUTH
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/dfu-convert.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/dfu-convert.py
new file mode 100755
index 0000000000000000000000000000000000000000..6f72af79d7691caca8c79cdd50828166e05fdc6a
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/dfu-convert.py
@@ -0,0 +1,149 @@
+#!/usr/bin/env python
+
+# Written by Antonio Galea - 2010/11/18
+# Distributed under Gnu LGPL 3.0
+# see http://www.gnu.org/licenses/lgpl-3.0.txt
+#
+# Removed ihex functionality and dependency, Bitcraze - 2014-12-11
+# Added support for python3, Bitcraze - 2020-02-18
+
+import sys,struct,zlib,os
+from optparse import OptionParser
+
+python3 = False
+if (sys.version_info > (3, 0)):
+      python3 = True
+
+DEFAULT_DEVICE="0x0483:0xdf11"
+
+def named(tuple,names):
+  return dict(zip(names.split(),tuple))
+def consume(fmt,data,names):
+  n = struct.calcsize(fmt)
+  return named(struct.unpack(fmt,data[:n]),names),data[n:]
+def cstring(string):
+  return string.split('\0',1)[0]
+def compute_crc(data):
+  return 0xFFFFFFFF & -zlib.crc32(data) -1
+
+def parse(file,dump_images=False):
+  print('File: "%s"' % file)
+  data = open(file,'rb').read()
+  crc = compute_crc(data[:-4])
+  prefix, data = consume('<5sBIB',data,'signature version size targets')
+  print('%(signature)s v%(version)d, image size: %(size)d, targets: %(targets)d' % prefix)
+  for t in range(prefix['targets']):
+    tprefix, data  = consume('<6sBI255s2I',data,'signature altsetting named name size elements')
+    tprefix['num'] = t
+    if tprefix['named']:
+      tprefix['name'] = cstring(tprefix['name'])
+    else:
+      tprefix['name'] = ''
+    print('%(signature)s %(num)d, alt setting: %(altsetting)s, name: "%(name)s", size: %(size)d, elements: %(elements)d' % tprefix)
+    tsize = tprefix['size']
+    target, data = data[:tsize], data[tsize:]
+    for e in range(tprefix['elements']):
+      eprefix, target = consume('<2I',target,'address size')
+      eprefix['num'] = e
+      print('  %(num)d, address: 0x%(address)08x, size: %(size)d' % eprefix)
+      esize = eprefix['size']
+      image, target = target[:esize], target[esize:]
+      if dump_images:
+        out = '%s.target%d.image%d.bin' % (file,t,e)
+        open(out,'wb').write(image)
+        print('    DUMPED IMAGE TO "%s"' % out)
+    if len(target):
+      print("target %d: PARSE ERROR" % t)
+  suffix = named(struct.unpack('<4H3sBI',data[:16]),'device product vendor dfu ufd len crc')
+  print('usb: %(vendor)04x:%(product)04x, device: 0x%(device)04x, dfu: 0x%(dfu)04x, %(ufd)s, %(len)d, 0x%(crc)08x' % suffix)
+  if crc != suffix['crc']:
+    print("CRC ERROR: computed crc32 is 0x%08x" % crc)
+  data = data[16:]
+  if data:
+    print("PARSE ERROR")
+
+def build(file,targets,device=DEFAULT_DEVICE):
+  data = ''
+  if (python3):
+        data = b''
+  for t,target in enumerate(targets):
+    tdata = ''
+    if (python3):
+          tdata = b''
+    for image in target:
+      tdata += struct.pack('<2I',image['address'],len(image['data']))+image['data']
+
+    trgt = 'Target'
+    st = 'ST...'
+    if (python3):
+      trgt = b'Target'
+      st = b'ST...'
+    tdata = struct.pack('<6sBI255s2I',trgt,0,1,st,len(tdata),len(target)) + tdata
+    data += tdata
+
+  dfu_se = 'DfuSe'
+  ufd = 'UFD'
+  if (python3):
+    dfu_se = b'DfuSe'
+    ufd = b'UFD'
+  data  = struct.pack('<5sBIB',dfu_se,1,len(data)+11,len(targets)) + data
+
+  v,d=map(lambda x: int(x,0) & 0xFFFF, device.split(':',1))
+  data += struct.pack('<4H3sB',0,d,v,0x011a,ufd,16)
+  crc   = compute_crc(data)
+  data += struct.pack('<I',crc)
+  open(file,'wb').write(data)
+
+if __name__=="__main__":
+  usage = """
+%prog [-d|--dump] infile.dfu
+%prog {-b|--build} address:file.bin [-b address:file.bin ...] [{-D|--device}=vendor:device] outfile.dfu"""
+
+  parser = OptionParser(usage=usage)
+  parser.add_option("-b", "--build", action="append", dest="binfiles",
+    help="build a DFU file from given BINFILES", metavar="BINFILES")
+  parser.add_option("-D", "--device", action="store", dest="device",
+    help="build for DEVICE, defaults to %s" % DEFAULT_DEVICE, metavar="DEVICE")
+  parser.add_option("-d", "--dump", action="store_true", dest="dump_images",
+    default=False, help="dump contained images to current directory")
+  (options, args) = parser.parse_args()
+
+  if options.binfiles and len(args)==1:
+    target = []
+
+    if options.binfiles:
+      for arg in options.binfiles:
+        try:
+          address,binfile = arg.split(':',1)
+        except ValueError:
+          print("Address:file couple '%s' invalid." % arg)
+          sys.exit(1)
+        try:
+          address = int(address,0) & 0xFFFFFFFF
+        except ValueError:
+          print("Address %s invalid." % address)
+          sys.exit(1)
+        if not os.path.isfile(binfile):
+          print("Unreadable file '%s'." % binfile)
+          sys.exit(1)
+        target.append({ 'address': address, 'data': open(binfile,'rb').read() })
+
+    outfile = args[0]
+    device = DEFAULT_DEVICE
+    if options.device:
+      device=options.device
+    try:
+      v,d=map(lambda x: int(x,0) & 0xFFFF, device.split(':',1))
+    except:
+      print("Invalid device '%s'." % device)
+      sys.exit(1)
+    build(outfile,[target],device)
+  elif len(args)==1:
+    infile = args[0]
+    if not os.path.isfile(infile):
+      print("Unreadable file '%s'." % infile)
+      sys.exit(1)
+    parse(infile, dump_images=options.dump_images)
+  else:
+    parser.print_help()
+    sys.exit(1)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platform.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platform.mk
new file mode 100644
index 0000000000000000000000000000000000000000..698417eb3a69c2c9842382959a65fdeca626b9e2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platform.mk
@@ -0,0 +1,35 @@
+# Platform handling
+
+# List all available platform
+platforms_files = $(wildcard $(CRAZYFLIE_BASE)/tools/make/platforms/*.mk)
+platforms_available = $(patsubst $(CRAZYFLIE_BASE)/tools/make/platforms/%.mk,%, $(platforms_files))
+
+# Find out if the requested platform exists
+ifeq ($(filter $(PLATFORM),$(platforms_available)),)
+$(info Platform '$(PLATFORM)' not found!)
+$(info -------------------)
+override PLATFORM=
+undefine PLATFORM
+endif
+
+# If there is no platform requested or the platform does not exist, print some help
+ifndef PLATFORM
+PLATFORM_DOC=1
+include $(CRAZYFLIE_BASE)/tools/make/platforms/*.mk
+$(info You must provide a platform with 'make PLATFORM=<platform>')
+$(info Available platforms:)
+$(foreach plat,$(platforms_available),$(info - $(plat) :	$(PLATFORM_HELP_$(plat))))
+$(info -------------------)
+$(info The platform will be written in 'current_platform.mk' and will be used by)
+$(info default for subsequent calls.)
+$(info if you want to reset and see this message again type 'make mrproper')
+$(info -------------------)
+$(error Platform not defined)
+endif
+
+# Include the platform makefile configuration
+include $(CRAZYFLIE_BASE)/tools/make/platforms/$(PLATFORM).mk
+
+# Write current platform in a file to make it stick for future call to make
+$(shell echo "PLATFORM=$(PLATFORM)" > current_platform.mk)
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/cf2.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/cf2.mk
new file mode 100644
index 0000000000000000000000000000000000000000..3471b73b10a140d844d4a9bff37d5f99f8d2a385
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/cf2.mk
@@ -0,0 +1,19 @@
+# Make configuration for the Crazyflie 2 platform
+
+PLATFORM_HELP_cf2 = Crazyflie2 platform, includes Crazyflie 2.0, Crazyflie 2.1 and Bolt
+PLATFORM_NAME_cf2 = CF2 platform
+
+CPU=stm32f4
+
+######### Sensors configuration ##########
+CFLAGS += -DSENSOR_INCLUDED_MPU9250_LPS25H
+PROJ_OBJ += sensors_mpu9250_lps25h.o
+
+CFLAGS += -DSENSOR_INCLUDED_BMI088_BMP388
+CFLAGS += -DSENSOR_INCLUDED_BMI088_SPI_BMP388
+PROJ_OBJ += sensors_bmi088_bmp388.o sensors_bmi088_i2c.o sensors_bmi088_spi.o
+
+######### Stabilizer configuration ##########
+ESTIMATOR          ?= any
+CONTROLLER         ?= Any # one of Any, PID, Mellinger, INDI
+POWER_DISTRIBUTION ?= stock
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/tag.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/tag.mk
new file mode 100644
index 0000000000000000000000000000000000000000..8a2f2fd5180b17a4dcaef2a24df5f06eb8c133f2
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/platforms/tag.mk
@@ -0,0 +1,19 @@
+# Make configuration for the Tag platform
+
+PLATFORM_HELP_tag = Tag platform, includes Roadrunner
+PLATFORM_NAME_tag = Tag platform
+
+CPU=stm32f4
+
+######### Sensors configuration ##########
+CFLAGS += -DSENSOR_INCLUDED_BMI088_BMP388
+PROJ_OBJ += sensors_bmi088_bmp388.o sensors_bmi088_i2c.o
+
+######### Stabilizer configuration ##########
+ESTIMATOR          ?= any
+CONTROLLER         ?= Any # one of Any, PID, Mellinger, INDI
+POWER_DISTRIBUTION ?= stock
+
+######### COMPILE FLAGS ##########
+CFLAGS += -DDECK_FORCE=bcDWM1000
+CFLAGS += -DSENSORS_IGNORE_BAROMETER_FAIL
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/size.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/size.py
new file mode 100755
index 0000000000000000000000000000000000000000..88805bd7ed188d3aac0473e2d36359bbc82504d5
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/size.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+import argparse
+import subprocess
+
+# Calls the size progeam and prints pretty memory usage
+
+def check_output(*args):
+    """A wrapper for subprocess.check_output() to handle differences in python 2 and 3.
+    Returns a string.
+    """
+    result = subprocess.check_output(*args)
+
+    if isinstance(result, bytes):
+        return result.decode('utf-8')
+    else:
+        return result
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("size_app", help="path to the size program")
+    parser.add_argument("source", help=".elf file to use")
+    parser.add_argument("flash_size_k", help="size of the flash, in k bytes", type=int)
+    parser.add_argument("ram_size_k", help="size of the RAM, in k bytes", type=int)
+    parser.add_argument("ccm_size_k", help="size of the CCM, in k bytes", type=int)
+    args = parser.parse_args()
+
+    output = check_output([args.size_app, '-A', args.source])
+    sizes = {}
+    for line in output.splitlines():
+        parts = line.split()
+        if len(parts) == 3 and parts[0] != 'section':
+            sizes[parts[0]] = int(parts[1])
+
+    flash_available = args.flash_size_k * 1024
+    flash_used = sizes['.text'] + sizes['.data'] + sizes['.ccmdata']
+    flash_free = flash_available - flash_used
+    flash_fill = 100 * flash_used / flash_available
+
+    ram_available = args.ram_size_k * 1024
+    ram_used = sizes['.bss'] + sizes['.data']
+    ram_free = ram_available - ram_used
+    ram_fill = 100 * ram_used / ram_available
+
+    ccm_available = args.ccm_size_k * 1024
+    ccm_used = sizes['.ccmbss'] + sizes['.ccmdata']
+    ccm_free = ccm_available - ccm_used
+    ccm_fill = 100 * ccm_used / ccm_available
+
+    print("Flash | {:7d}/{:<7d} ({:2.0f}%), {:7d} free | text: {}, data: {}, ccmdata: {}".format(flash_used, flash_available, flash_fill, flash_free, sizes['.text'], sizes['.data'], sizes['.ccmdata']))
+    print("RAM   | {:7d}/{:<7d} ({:2.0f}%), {:7d} free | bss: {}, data: {}".format(ram_used, ram_available, ram_fill, ram_free, sizes['.bss'], sizes['.data']))
+    print("CCM   | {:7d}/{:<7d} ({:2.0f}%), {:7d} free | ccmbss: {}, ccmdata: {}".format(ccm_used, ccm_available, ccm_fill, ccm_free, sizes['.ccmbss'], sizes['.ccmdata']))
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/targets.mk b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/targets.mk
new file mode 100644
index 0000000000000000000000000000000000000000..52bc7a7bc2bd5dd9f722c62711956fbb4835868e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/targets.mk
@@ -0,0 +1,81 @@
+# Part of CrazyFlie's Makefile
+# Copyright (c) 2009, Arnaud Taffanel
+# Common targets with verbose support
+
+
+ifeq ($(V),)
+  VERBOSE=_SILENT
+endif
+
+ifeq ($(V),0)
+  QUIET=1
+endif
+
+target = @$(if $(QUIET), ,echo $($1_COMMAND$(VERBOSE)) ); @$($1_COMMAND)
+
+VTMPL_COMMAND=$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) $< $@
+#$(BIN)/$(lastword $(subst /, ,$@))
+VTMPL_COMMAND_SILENT="  VTMPL $@"
+%.c: %.vtpl
+	@$(if $(QUIET), ,echo $(VTMPL_COMMAND$(VERBOSE)) )
+	@$(VTMPL_COMMAND)
+
+CC_COMMAND=$(CC) $(CFLAGS) -c $< -o $(BIN)/$@
+CC_COMMAND_SILENT="  CC    $@"
+.c.o:
+	@$(if $(QUIET), ,echo $(CC_COMMAND$(VERBOSE)) )
+	@$(CC_COMMAND)
+
+CCS_COMMAND=$(CC) $(CSFLAGS) -c $< -o $(BIN)/$@
+CCS_COMMAND_SILENT="  CCS   $@"
+.S.o:
+	@$(if $(QUIET), ,echo $(CCS_COMMAND$(VERBOSE)) )
+	@$(CCS_COMMAND)
+
+LD_COMMAND=$(LD) $(LDFLAGS) $(foreach o,$(OBJ),$(BIN)/$(o)) -lm -o $@
+LD_COMMAND_SILENT="  LD    $@"
+$(PROG).elf: $(OBJ)
+	@$(if $(QUIET), ,echo $(LD_COMMAND$(VERBOSE)) )
+	@$(LD_COMMAND)
+
+HEX_COMMAND=$(OBJCOPY) $< -O ihex $@
+HEX_COMMAND_SILENT="  COPY  $@"
+$(PROG).hex: $(PROG).elf
+	@$(if $(QUIET), ,echo $(HEX_COMMAND$(VERBOSE)) )
+	@$(HEX_COMMAND)
+
+BIN_COMMAND=$(OBJCOPY) $< -O binary --pad-to 0 --remove-section=.bss --remove-section=.nzds  --remove-section=._usrstack $@
+BIN_COMMAND_SILENT="  COPY  $@"
+$(PROG).bin: $(PROG).elf
+	@$(if $(QUIET), ,echo $(BIN_COMMAND$(VERBOSE)) )
+	@$(BIN_COMMAND)
+
+DFU_COMMAND=$(PYTHON) $(CRAZYFLIE_BASE)/tools/make/dfu-convert.py -b $(LOAD_ADDRESS):$< $@
+DFU_COMMAND_SILENT="  DFUse $@"
+$(PROG).dfu: $(PROG).bin
+	@$(if $(QUIET), ,echo $(DFU_COMMAND$(VERBOSE)) )
+	@$(DFU_COMMAND)
+
+AS_COMMAND=$(AS) $(ASFLAGS) $< -o $(BIN)/$@
+AS_COMMAND_SILENT="  AS    $@"
+.s.o:
+	@$(if $(QUIET), ,echo $(AS_COMMAND$(VERBOSE)) )
+	@$(AS_COMMAND)
+
+CLEAN_O_COMMAND=rm -f $(foreach o,$(OBJ),$(BIN)/$(o))
+CLEAN_O_COMMAND_SILENT="  CLEAN_O"
+clean_o: clean_version
+	@$(if $(QUIET), ,echo $(CLEAN_O_COMMAND$(VERBOSE)) )
+	@$(CLEAN_O_COMMAND)
+
+CLEAN_COMMAND=rm -f cf*.elf cf*.hex cf*.bin cf*.dfu cf*.map $(BIN)/dep/*.d $(BIN)/*.o
+CLEAN_COMMAND_SILENT="  CLEAN"
+clean:
+	@$(if $(QUIET), ,echo $(CLEAN_COMMAND$(VERBOSE)) )
+	@$(CLEAN_COMMAND)
+
+MRPROPER_COMMAND=rm -f current_platform.mk *~ hal/src/*~ hal/interface/*~ tasks/src/*~ tasks/inc/*~ utils/src/*~ utils/inc/*~ tools/make/*~; rm -rf bin/dep/*.d $(BIN)/*.a $(BIN)/vendor/*.o
+MRPROPER_COMMAND_SILENT="  MRPROPER"
+mrproper: clean
+	@$(if $(QUIET), ,echo $(MRPROPER_COMMAND$(VERBOSE)) )
+	@$(MRPROPER_COMMAND)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/usb-bootloader.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/usb-bootloader.py
new file mode 100644
index 0000000000000000000000000000000000000000..fc8850b76c36abe396286b62cc3ab66ef68214f4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/usb-bootloader.py
@@ -0,0 +1,21 @@
+#send a USB request to the crazyflie, causing it to enter DFU mode (bootloader) automatically
+#flash new firmware using 'make flash_dfu'
+
+from time import sleep
+import usb
+import usb.core
+
+#find connected crazyflie, usb vendor and product id = 0483:5740
+dev = usb.core.find(idVendor=0x0483, idProduct=0x5740)
+if dev is None:
+    raise ValueError('Could not find any USB connected crazyflie')
+
+#send signal to enter bootloader
+try:
+    dev.ctrl_transfer(bmRequestType=usb.TYPE_VENDOR, 
+        bRequest=0x01, wValue=0x01, wIndex=2)
+except IOError:
+    #io error expected because the crazyflie will not respond to USB request as it resets into the bootloader
+    #TODO usbd_cf_Setup function in firmware needs to return USBD_OK before rebooting to fix this
+        #sleep to allow time for crazyflie to get into DFU mode
+        sleep(0.5)
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/versionTemplate.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/versionTemplate.py
new file mode 100644
index 0000000000000000000000000000000000000000..3fe338ad6efb099510bb30b22ff21c5b68432607
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/make/versionTemplate.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python
+
+import sys
+import subprocess
+import os
+from os import path
+import re
+import json
+import argparse
+
+version = {}
+
+header = """/* This file is automatically generated by {0}!
+ * Do not edit manually, any manual change will be overwritten.
+ */
+"""
+
+def check_output(*args):
+    """A wrapper for subprocess.check_output() to handle differences in python 2 and 3.
+    Returns a string.
+    """
+    result = subprocess.check_output(*args)
+
+    if isinstance(result, bytes):
+        return result.decode('utf-8')
+    else:
+        return result
+
+
+def extract_information_from_git(base):
+    revision = check_output(["git", "-C", base, "rev-parse", "HEAD"]).strip()
+
+    version['revision'] = revision[0:12]
+    version['irevision0'] = "0x" + revision[0:8]
+    version['irevision1'] = "0x" + revision[8:12]
+    version['productionRelease'] = 'false'
+
+    try:
+        identify = check_output(
+            ["git", "-C", base, "describe", "--abbrev=12", "--tags", "HEAD"])
+        identify = identify.split('-')
+
+        if len(identify) > 2:
+            version['local_revision'] = identify[len(identify) - 2]
+        else:
+            version['local_revision'] = '0'
+
+        version['tag'] = identify[0]
+        for x in range(1, len(identify) - 2):
+            version['tag'] += '-'
+            version['tag'] += identify[x]
+    except subprocess.CalledProcessError:
+        # We are maybe running from a shallow tree
+        version['local_revision'] = '0'
+        version['tag'] = "NA"
+
+    version['tag'] = version['tag'].strip()
+
+    if version['local_revision'] != '0':
+        version['tag'] = version['tag'] + ' +' + version['local_revision']
+
+    branch = check_output(
+        ["git", "-C", base, "rev-parse", "--abbrev-ref", "HEAD"]).strip()
+    version['branch'] = branch
+
+    subprocess.call(["git", "-C", base, "update-index", "-q", "--refresh"])
+    changes = check_output(
+        ["git", "-C", base, "diff-index", "--name-only", "HEAD", "--"]).strip()
+    if len(changes):
+        version['modified'] = 'true'
+    else:
+        version['modified'] = 'false'
+
+
+def extract_information_from_build_info_file():
+    info_file = path.basename(path.abspath(path.dirname(__file__) +
+                                           '/../../build_info.json'))
+    if not path.exists(info_file):
+        return False
+
+    with open(info_file) as json_file:
+        build_info = json.load(json_file)
+
+    version['revision'] = 'NA'
+    version['irevision0'] = "0x" + '0'
+    version['irevision1'] = "0x" + '0'
+    version['local_revision'] = 'NA'
+    version['branch'] = 'NA'
+    version['tag'] = build_info['tag']
+    version['modified'] = 'false'
+    version['productionRelease'] = 'true'
+
+    return True
+
+
+def print_version():
+    if version['productionRelease'] == 'true':
+        print("\033[1;31mProduction build {tag}\033[m".format(**version))
+    else:
+        status = "\033[1;32mCLEAN\033[m"
+        if (version['modified'] == 'true'):
+            status = "\033[1;31mMODIFIED\033[m"
+
+        print("Build {local_revision}:{revision} ({tag}) {}".format(status,
+                                                                    **version))
+    print("Version extracted from {source}".format(**version))
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("source", help="Source template", nargs="?", default=None)
+    parser.add_argument("destination", help="Destination version file", nargs="?",default=None)
+    parser.add_argument("--crazyflie-base", help="base folder of the crazyflie firmware",
+                        action="store", default="./")
+    parser.add_argument('--print-version', help="Print version and exit",
+                        action="store_true")
+    args = parser.parse_args()
+
+    if extract_information_from_build_info_file():
+        version['source'] = "build info file"
+    else:
+        version['source'] = "git"
+        extract_information_from_git(args.crazyflie_base)
+
+    if args.print_version:
+        print_version()
+        sys.exit(0)
+
+    if not args.source or not args.destination:
+        print("Usage:")
+        print("  {0} <infile> <outfile>".format(sys.argv[0]))
+        sys.exit(1)
+
+
+    # Apply information to the file template
+    infile = open(args.source, 'r')
+    outfile = open(args.destination, 'w')
+
+    outfile.write(header.format(sys.argv[0], args.source))
+    outfile.write(infile.read().format(**version))
+
+    infile.close()
+    outfile.close()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/CF_functions.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/CF_functions.py
new file mode 100644
index 0000000000000000000000000000000000000000..340bdc464118a1925eb92b6e10b8d412bea6d1a5
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/CF_functions.py
@@ -0,0 +1,79 @@
+# -*- coding: utf-8 -*-
+"""
+decode: decodes binary logged sensor data from crazyflie2 with uSD-Card-Deck
+createConfig: create config file which has to placed on µSD-Card
+@author: jsschell
+"""
+from zlib import crc32
+import struct
+import numpy as np
+import os
+
+
+def decode(filName):
+    # read file as binary
+    filObj = open(filName, 'rb')
+    filCon = filObj.read()
+    filObj.close()
+    
+    # get file size to forecast output array
+    statinfo = os.stat(filName)
+    
+    # process file header
+    setWidth = struct.unpack('B', filCon[:1])
+    setNames = []
+    idx = 1
+    for ii in range(0, setWidth[0]):
+        startIdx = idx
+        while True:
+            if filCon[idx] == ','.encode('ascii')[0]:
+                break
+            idx += 1
+        print(filCon[startIdx:idx], startIdx, idx)
+        setNames.append(filCon[startIdx:idx])
+        idx += 1
+    print("[CRC] of file header:", end="")
+    crcVal = crc32(filCon[0:idx+4]) & 0xffffffff
+    crcErrors = 0
+    if ( crcVal == 0xffffffff):
+        print("\tOK\t["+hex(crcVal)+"]")
+    else:
+        print("\tERROR\t["+hex(crcVal)+"]")
+        crcErrors += 1
+    offset = idx + 4
+    
+    # process data sets
+    setCon = np.zeros(statinfo.st_size) # upper bound...
+    idx = 0
+    fmtStr = "<"
+    for setName in setNames:
+        fmtStr += chr(setName[-2])
+    setBytes = struct.calcsize(fmtStr)
+    while(offset < len(filCon)):
+        setNumber = struct.unpack('B', filCon[offset:offset+1])
+        offset += 1
+        for ii in range(setNumber[0]):
+            setCon[idx:idx+setWidth[0]] = np.array(struct.unpack(fmtStr, filCon[offset:setBytes+offset]))
+            offset += setBytes
+            idx += setWidth[0]
+        crcVal = crc32(filCon[offset-setBytes*setNumber[0]-1:offset+4]) & 0xffffffff
+        print("[CRC] of data set:", end="")
+        if ( crcVal == 0xffffffff):
+            print("\tOK\t["+hex(crcVal)+"]")
+        else:
+            print("\tERROR\t["+hex(crcVal)+"]")
+            crcErrors += 1
+        offset += 4
+    if (not crcErrors):
+        print("[CRC] no errors occurred:\tOK")
+    else:
+        print("[CRC] {0} errors occurred:\tERROR".format(crcErrors))
+    
+    # remove not required elements and reshape as matrix
+    setCon = np.reshape(setCon[0:idx], (setWidth[0], idx//setWidth[0]), 'f')
+    
+    # create output dictionary
+    output = {}
+    for ii in range(setWidth[0]):
+        output[setNames[ii][0:-3].decode("utf-8").strip()] = setCon[ii]
+    return output
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/config.txt b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/config.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2722f7c65ad0d78ba4f7f028767aa8cbf8ed5ac7
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/config.txt
@@ -0,0 +1,13 @@
+500   # frequency
+100    # buffer size
+log   # file name
+1     # enable on startup (0/1)
+2     # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
+controller.cmd_thrust
+controller.cmd_roll
+controller.cmd_pitch
+controller.cmd_yaw
+controller.r_roll
+controller.r_pitch
+controller.r_yaw
+controller.accelz
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/control_effectiveness_estimation.m b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/control_effectiveness_estimation.m
new file mode 100644
index 0000000000000000000000000000000000000000..bff00e797d1883a44a79c91703d84862e26feaec
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/control_effectiveness_estimation.m
@@ -0,0 +1,134 @@
+%% Script to Estimate Control Effectiveness
+% Author: Ewoud Smeur
+%
+% Use logged data at full speed (512 Hz) of the format:
+% 
+%  static uint32_t counter;
+%  struct FloatRates *rates = stateGetBodyRates_f();
+%  struct Int32Vect3 *accel_body = stateGetAccelBody_i();
+%  float accelz = ACCEL_FLOAT_OF_BFP(accel_body->z);
+%
+%  fprintf(file_logger, "%d,%f,%f,%f,%d,%d,%d,%d,%f\n",
+%          counter,
+%          rates->p,
+%          rates->q,
+%          rates->r,
+%          stabilization_cmd[COMMAND_THRUST],
+%          stabilization_cmd[COMMAND_ROLL],
+%          stabilization_cmd[COMMAND_PITCH],
+%          stabilization_cmd[COMMAND_YAW],
+%          accelz
+%         );
+%  counter++;
+%
+
+clc
+clear all
+close all
+
+filename = 'logDataMel4.csv';
+
+frequency = 500;
+
+%% Read in Data
+
+formatSpec = '%f%f%f%f%f%f%f%f%f';
+
+formatSpecHeader = '%s%s%s%s%s%s%s%s%s';
+delimiter = ',';
+startRow = 1;
+fileID = fopen(filename,'r');
+header = textscan(fileID, formatSpecHeader,1, 'Delimiter', delimiter, 'EmptyValue' ,NaN);
+dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'EmptyValue' ,NaN,'HeaderLines' ,startRow, 'ReturnOnError', false);
+fclose(fileID);
+
+N = length(dataArray{1, 8});
+
+counter = dataArray{1, 1}(1:N);
+gyro(:,1) = dataArray{1, 2}(1:N); %roll
+gyro(:,2) = dataArray{1, 3}(1:N); %pitch
+gyro(:,3) = dataArray{1, 4}(1:N); %yaw
+stab_cmd(:,1) = dataArray{1, 5}(1:N); %thrust
+stab_cmd(:,2) = dataArray{1, 6}(1:N); %roll
+stab_cmd(:,3) = dataArray{1, 7}(1:N); %pitch
+stab_cmd(:,4) = dataArray{1, 8}(1:N); %yaw
+accelz = dataArray{1, 9}(1:N); %accel body z
+
+%% Filter signals
+
+% The filter needed to get rid of the noise on the gyro
+[b, a] = butter(4,4/(frequency/2));
+first_order_dynamics_constant = 0.03149;
+
+% Filter the stabilization command with the actuator dynamics to get an
+% estimate of the actuator state
+cmd_act_dyn = filter(first_order_dynamics_constant,[1, -(1-first_order_dynamics_constant)], stab_cmd,[],1);
+
+% Filter the gyro and the command with the same filter in order to give
+% them the same delay
+gyro_filt = filter(b,a,gyro);
+cmd_filt = filter(b,a,cmd_act_dyn);
+accelz_filt = filter(b,a,accelz);
+
+% Differentiate the gyro to get angular acceleration
+angular_accel_filt = [zeros(1,3); diff(gyro_filt,1)]*frequency;
+accelzd_filt = [0; diff(accelz_filt,1)]*frequency;
+
+% Differentiate once more to do the estimation
+angular_accel_filtd = [zeros(1,3); diff(angular_accel_filt,1)]*frequency;
+cmd_filtd = [zeros(1,4); diff(cmd_filt,1)]*frequency;
+cmd_filtdd = [zeros(1,4); diff(cmd_filtd,1)]*frequency;
+
+%% Do the fitting with least squares
+
+G_roll = cmd_filtd(:,2)\angular_accel_filtd(:,1);
+G_pitch = cmd_filtd(:,3)\angular_accel_filtd(:,2);
+G_yaw = [cmd_filtd(:,4) cmd_filtdd(:,4)]\angular_accel_filtd(:,3);
+G_specific_force = cmd_filtd(:,1)\accelzd_filt;
+
+%% Plotting
+disp('Fill in these values in your airframe file:')
+%disp(['G_roll = ' num2str(G_roll) ' G_pitch = ' num2str(G_pitch) ' G1_yaw = ' num2str(G_yaw(1)) ' G2_yaw = ' num2str(G_yaw(2)*1000) ' Specific_force_gain = ' num2str(1/G_specific_force)])
+disp(['G_roll = ' num2str(G_roll) ' G_pitch = ' num2str(G_pitch) ' G1_yaw = ' num2str(G_yaw(1)) ' G2_yaw = ' num2str(G_yaw(2)*1000) ])
+
+figure;
+plot(angular_accel_filtd(:,1)); hold on
+plot(cmd_filtd(:,2)*G_roll)
+title('\Delta angular acceleration roll')
+
+figure;
+plot(angular_accel_filtd(:,2)); hold on
+plot(cmd_filtd(:,3)*G_pitch)
+title('\Delta angular acceleration pitch')
+
+figure;
+plot(angular_accel_filtd(:,3)); hold on
+plot([cmd_filtd(:,4) cmd_filtdd(:,4)]*G_yaw)
+title('\Delta angular acceleration yaw')
+
+figure;
+plot(accelzd_filt); hold on
+plot(cmd_filtd(:,1)*G_specific_force)
+title('\Delta z acceleration')
+
+function mPInv = matrixPseudoInvSVD(A)
+  % Goal: solve A*x == b for x
+  % Set up some matrix A (I used a sparse matrix) -- do yourself
+  % Set up the vector b -- do yourself
+  % Perform SVD on A
+  [U,S,V] = svd(A);
+  % A == U*S*V' % Not needed, but you can check it yourself to confirm
+  % Calc number of singular values
+  s = diag(S); % vector of singular values
+  tolerance = max(size(A))*eps(max(s));
+  p = sum(s>tolerance);
+  % Define spaces
+  Up = U(:,1:p);
+  %U0 = U(:,p+1:Nx);
+  Vp = V(:,1:p);
+  %V0 = V(:,p+1:Nx);
+  %Sp = spdiags( s(1:p), 0, p, p );
+  SpInv = spdiags( 1.0./s(1:p), 0, p, p );
+  % Calc AInv such that x = AInv * b
+  mPInv = Vp * SpInv * Up'; 
+end
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/data_1901.csv b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/data_1901.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a00da029689e50b9a8c1d498bd5bfadf0fd8ace
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/data_1901.csv
@@ -0,0 +1,19093 @@
+tick,controller.r_roll,controller.r_pitch,controller.r_yaw,controller.cmd_thrust,controller.cmd_roll,controller.cmd_pitch,controller.cmd_yaw,controller.accelz
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diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/extract_signals.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/extract_signals.py
new file mode 100644
index 0000000000000000000000000000000000000000..eb9198059721f931148f712b6b21528715faf226
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/extract_signals.py
@@ -0,0 +1,15 @@
+import CF_functions as cff
+import argparse
+import numpy
+
+parser = argparse.ArgumentParser()
+parser.add_argument("filename")
+args = parser.parse_args()
+
+# decode binary log data
+logData = cff.decode(args.filename)
+
+for key in logData.keys():
+     a = numpy.asarray(logData[key])
+     numpy.savetxt("signals/"+key+".csv", a, delimiter=",")
+
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/import_logdata.m b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/import_logdata.m
new file mode 100644
index 0000000000000000000000000000000000000000..f33f8759025baf9a3087f2e775cbda538226db22
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/import_logdata.m
@@ -0,0 +1,42 @@
+function [tick, gyro_roll, gyro_pitch, gyro_yaw, ...
+         cmd_thrust, cmd_roll, cmd_pitch, cmd_yaw,...
+         accelz] = import_logdata(filename)
+
+%% Import data from text file
+% Script for importing data from the following text file:
+%
+%    filename: /home/evgheniivolodscoi/LRZ Sync+Share/TUM/Master_AS_RCI/Semester_3/Semesterarbeit/code/param_est/csv_data/data_1901.csv
+%
+% Auto-generated by MATLAB on 20-Jan-2020 01:14:14
+
+%% Setup the Import Options
+opts = delimitedTextImportOptions("NumVariables", 9);
+
+% Specify range and delimiter
+opts.DataLines = [2, Inf];
+opts.Delimiter = ",";
+
+% Specify column names and types
+opts.VariableNames = ["tick", "controllerr_roll", "controllerr_pitch", "controllerr_yaw", "controllercmd_thrust", "controllercmd_roll", "controllercmd_pitch", "controllercmd_yaw", "controlleraccelz"];
+opts.VariableTypes = ["double", "double", "double", "double", "double", "double", "double", "double", "double"];
+opts.ExtraColumnsRule = "ignore";
+opts.EmptyLineRule = "read";
+
+% Import the data
+tbl = readtable(filename, opts);
+
+%% Convert to output type
+tick = tbl.tick;
+gyro_roll = tbl.controllerr_roll;
+gyro_pitch = tbl.controllerr_pitch;
+gyro_yaw = tbl.controllerr_yaw;
+cmd_thrust = tbl.controllercmd_thrust;
+cmd_roll = tbl.controllercmd_roll;
+cmd_pitch = tbl.controllercmd_pitch;
+cmd_yaw = tbl.controllercmd_yaw;
+accelz = tbl.controlleraccelz;
+
+%% Clear temporary variables
+clear opts tbl
+
+end
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/param_estimation.m b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/param_estimation.m
new file mode 100644
index 0000000000000000000000000000000000000000..4d451af8437ad5a47b742db464ad18e3301b9746
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/param_est/param_estimation.m
@@ -0,0 +1,81 @@
+clc
+clear 
+close all
+
+%% Parameters 
+Ts = 1/500;
+Fs = 1/Ts;
+
+T = 0.0617;                      % Time constant T [s]
+alpha = 1 - exp(-Ts/T);   
+
+filename = "data_1901.csv";
+
+%% Import data
+
+[tick, gyro_roll, gyro_pitch, gyro_yaw, cmd_thrust, cmd_roll,... 
+ cmd_pitch, cmd_yaw, accelz] = import_logdata(filename);
+
+time = (tick - tick(1)) / 1000;
+
+%% Actuator dynamics
+cmd_roll_a = filter([alpha], [1, -(1-alpha)], cmd_roll);
+cmd_pitch_a = filter([alpha], [1, -(1-alpha)], cmd_pitch);
+cmd_yaw_a = filter([alpha], [1, -(1-alpha)], cmd_yaw);
+cmd_thrust_a = filter([alpha], [1, -(1-alpha)], cmd_thrust);
+
+
+%% Data preprocessing
+
+[b, a] = butter(4, 4/(Fs/2));       % compute filter coeffs
+
+% Filtering gyro data to remove noise
+gyro_roll_f = filter(b, a, gyro_roll);
+gyro_pitch_f = filter(b, a, gyro_pitch);
+gyro_yaw_f = filter(b, a, gyro_yaw);
+
+% Filtering cmd data to remove noise
+cmd_roll_f = filter(b, a, cmd_roll_a);
+cmd_pitch_f = filter(b, a, cmd_pitch_a);
+cmd_yaw_f = filter(b, a, cmd_yaw_a);
+
+% Differtiating angular velocities to get angular accelerations
+ang_accel_roll = [0; diff(gyro_roll_f)]/Ts;
+ang_accel_pitch = [0; diff(gyro_pitch_f)]/Ts;
+ang_accel_yaw = [0; diff(gyro_yaw_f)]/Ts;
+
+% Differentiating 2nd time (for parameter estimation)
+ang_accel_roll_d = [0; diff(ang_accel_roll)]/Ts;
+ang_accel_pitch_d = [0; diff(ang_accel_pitch)]/Ts;
+ang_accel_yaw_d = [0; diff(ang_accel_yaw)]/Ts;
+
+% Differentiating cmd (for parameter estimation)
+cmd_roll_fd = [0; diff(cmd_roll_f)]/Ts;
+cmd_pitch_fd = [0; diff(cmd_pitch_f)]/Ts;
+cmd_yaw_fd = [0; diff(cmd_yaw_f)]/Ts;
+cmd_yaw_fdd = [0; diff(cmd_yaw_fd)]/Ts;
+
+
+%% Compute control effectiveness parameters (least squares fitting)
+G_roll = cmd_roll_fd \ ang_accel_roll_d;
+G_pitch = cmd_pitch_fd \ ang_accel_pitch_d;
+G_yaw = [cmd_yaw_fd cmd_yaw_fdd] \ ang_accel_yaw_d;
+
+
+%%  Plot results 
+display(['T = ' num2str(T) 's; Fs = ' num2str(Fs) 'Hz; alpha = ' num2str(alpha)])
+display(['G1_roll = ' num2str(G_roll) '; G1_pitch = ' num2str(G_pitch) ...
+         '; G1_yaw = ' num2str(G_yaw(1)) '; G2_yaw = ' num2str(G_yaw(2))])
+
+% % Plot contributions of G matrices
+% figure('Name','G1_yaw contribution');
+% plot(ang_accel_yaw_d); hold on
+% plot([cmd_yaw_fd 0*cmd_yaw_fdd]*G_yaw)
+% xlim([0 inf]); grid on;
+% legend('ang\_accel\_yaw\_d', 'cmd*G1')
+% 
+% figure('Name','G2_yaw contribution');
+% plot(ang_accel_yaw_d); hold on
+% plot([0*cmd_yaw_fd cmd_yaw_fdd]*G_yaw)
+% xlim([0 inf]); grid on;
+% legend('ang\_accel\_yaw\_d', 'cmdd*G2')
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/gcc.yml b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/gcc.yml
new file mode 100644
index 0000000000000000000000000000000000000000..32fd6e9a5711bc9e2febb35056921bcc6c8638f9
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/gcc.yml
@@ -0,0 +1,129 @@
+---
+compiler:
+  path: gcc
+  source_path:     &source_path 'src/'
+  unit_tests_path: &unit_tests_path 'test/**/'
+  mocks_path:      &mocks_path 'generated/test/mocks/'
+  build_path:      &build_path 'generated/test/build/'
+  options:
+    - '-c'
+    - '-Wall'
+    - '-Wextra'
+    - '-Wunused-parameter'
+    - '-Wmissing-braces'
+    - '-Wno-address'
+    - '-std=c11'
+    - '-pedantic'
+    - '-O0'
+    - '-fsanitize=address'
+    - '-fno-omit-frame-pointer'
+  includes:
+    prefix: '-I'
+    items:
+      - *source_path
+      - *unit_tests_path
+      - *mocks_path
+      - 'src/config'
+      - 'src/deck/drivers/interface/'
+      - 'src/deck/drivers/src/'
+      - 'src/deck/core/'
+      - 'src/deck/interface/'
+      - 'src/utils/interface/'
+      - 'src/utils/interface/tdoa/'
+      - 'src/utils/interface/lighthouse/'
+      - 'src/utils/src/'
+      - 'src/utils/src/tdoa/'
+      - 'src/utils/src/lighthouse/'
+      - 'vendor/FreeRTOS/include/'
+      - 'src/config/'
+      - 'src/drivers/interface/'
+      - 'src/drivers/src'
+      - 'src/hal/interface/'
+      - 'src/lib/CMSIS/STM32F4xx/Include'
+      - 'src/lib/STM32F4xx_StdPeriph_Driver/inc'
+      - 'src/modules/interface/'
+      - 'src/modules/interface/kalman_core/'
+      - 'src/modules/interface/lighthouse/'
+      - 'src/modules/src/'
+      - 'src/modules/src/kalman_core/'
+      - 'src/modules/src/lighthouse/'
+      - 'src/platform/'
+      - 'src/utils/interface/'
+      - 'src/utils/interface/lighthouse/'
+      - 'src/utils/interface/tdoa'
+      - 'src/utils/src/'
+      - 'src/utils/src/lighthouse/'
+      - 'src/utils/src/tdoa/'
+      - 'test/testSupport/'
+      - 'vendor/CMSIS/CMSIS/Core/Include'
+      - 'vendor/CMSIS/CMSIS/DSP/Include'
+      - 'vendor/FreeRTOS/include'
+      - 'vendor/FreeRTOS/portable/GCC/ARM_CM4F'
+      - 'vendor/cmock/src/'
+      - 'vendor/libdw1000/inc/'
+      - 'vendor/unity/src/'
+  defines:
+    prefix: '-D'
+    items:
+      - CMOCK
+      - 'UNIT_TEST_MODE'
+      - 'UNITY_SUPPORT_64'
+      - 'HSI48_VALUE="((uint32_t)48000000)"'
+      - 'STM32F072xB'
+      - 'ARM_MATH_CM4'
+      - '__fp16=float'
+  object_files:
+    prefix: '-o'
+    extension: '.o'
+    destination: *build_path
+  libs:
+    ARM_DSP_MATH:
+      files:
+        - 'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_add_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_dot_prod_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_scale_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/BasicMathFunctions/arm_sub_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/CommonTables/arm_common_tables.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/FastMathFunctions/arm_cos_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/FastMathFunctions/arm_sin_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c'
+        - 'vendor/CMSIS/CMSIS/DSP/Source/StatisticsFunctions/arm_power_f32.c'
+      extra_options:
+        - '-Wno-overflow'
+
+
+linker:
+  path: gcc
+  options:
+    - '-lm'
+    - '-fsanitize=address'
+    - '-fno-omit-frame-pointer'
+  includes:
+    prefix: '-I'
+  object_files:
+    path: *build_path
+    extension: '.o'
+  bin_files:
+    prefix: '-o'
+    extension: '.exe'
+    destination: *build_path
+
+unsupported:
+  - out_of_memory
+  - unity_64bit_support
+  - callingconv
+
+colour: true
+
+env:
+  # There seems to be problems on some platforms (on travis for instance) with LeakSanitizer that craches. Turn it off
+  'LSAN_OPTIONS' : 'detect_leaks=0'
+
+:cmock:
+  :plugins:
+    - :ignore_arg
+    - :ignore
+    - :array
+    - :callback
+  :mock_path: *mocks_path
+  :mock_prefix: mock_
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/rakefile_helper.rb b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/rakefile_helper.rb
new file mode 100644
index 0000000000000000000000000000000000000000..19b76bf27d024cff9590405ad816b328292f5b48
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/test/rakefile_helper.rb
@@ -0,0 +1,425 @@
+require 'yaml'
+require 'fileutils'
+require './vendor/unity/auto/unity_test_summary'
+require './vendor/unity/auto/generate_test_runner'
+require './vendor/unity/auto/colour_reporter'
+
+module RakefileHelpers
+
+  C_EXTENSION = '.c'
+
+  def load_configuration(config_file)
+    $cfg_file = config_file
+    $cfg = YAML.load(File.read($cfg_file))
+    $colour_output = false unless $cfg['colour']
+  end
+
+  def configure_clean
+    CLEAN.include($cfg['compiler']['build_path'] + '*.*') unless $cfg['compiler']['build_path'].nil?
+  end
+
+  def configure_toolchain(config_file=DEFAULT_CONFIG_FILE)
+    config_file += '.yml' unless config_file =~ /\.yml$/
+    load_configuration(config_file)
+    configure_clean
+  end
+
+  def get_unit_test_files
+    path = $cfg['compiler']['unit_tests_path'] + 'test_*' + C_EXTENSION
+    path.gsub!(/\\/, '/')
+    FileList.new(path)
+  end
+
+  def get_local_include_dirs
+    include_dirs = $cfg['compiler']['includes']['items'].dup
+    include_dirs.delete_if {|dir| dir.is_a?(Array)}
+    return include_dirs
+  end
+
+  def extract_headers(filename)
+    includes = []
+    lines = File.readlines(filename)
+    lines.each do |line|
+      # Check if there is an include that we should add
+      m = line.match(/^\s*#include\s+\"\s*(.+\.[hH])\s*\"/)
+      if not m.nil?
+        if !line.include? "@NO_MODULE"
+          includes << m[1]
+        end
+      end
+
+      # Check if there is a module to add based on an annotation
+      m = line.match(/^\/\/\s*@MODULE\s+\"\s*(.+\.)[cC]\s*\"/)
+      if not m.nil?
+        # Fake that it is a .h file
+        h_file_name = m[1] + 'h'
+        includes << h_file_name
+      end
+    end
+    return includes
+  end
+
+  def find_source_file(header, paths)
+    find_file(header.ext(C_EXTENSION), paths)
+  end
+
+  def find_file(name, paths)
+    paths.each do |dir|
+      src_file = dir + name
+      if (File.exists?(src_file))
+        return src_file
+      end
+    end
+    return nil
+  end
+
+  def tackit(strings)
+    case(strings)
+      when Array
+        "\"#{strings.join}\""
+      when /^-/
+        strings
+      when /\s/
+        "\"#{strings}\""
+      else
+        strings
+    end
+  end
+
+  def squash(prefix, items)
+    result = ''
+    items.each { |item| result += " #{prefix}#{tackit(item)}" }
+    return result
+  end
+
+  def build_compiler_fields(extra_options=[])
+    command  = tackit($cfg['compiler']['path'])
+    if $cfg['compiler']['defines']['items'].nil?
+      defines  = ''
+    else
+      defines  = squash($cfg['compiler']['defines']['prefix'], $cfg['compiler']['defines']['items'])
+    end
+    options  = squash('', $cfg['compiler']['options'] + extra_options)
+    includes = squash($cfg['compiler']['includes']['prefix'], $cfg['compiler']['includes']['items'])
+    includes = includes.gsub(/\\ /, ' ').gsub(/\\\"/, '"').gsub(/\\$/, '') # Remove trailing slashes (for IAR)
+    return {:command => command, :defines => defines, :options => options, :includes => includes}
+  end
+
+  def compile(file, defines=[], extra_options=[])
+    compiler = build_compiler_fields(extra_options)
+    cmd_str  = "#{compiler[:command]}#{compiler[:defines]}#{compiler[:options]}#{compiler[:includes]} #{file} " +
+               "#{$cfg['compiler']['object_files']['prefix']}#{$cfg['compiler']['object_files']['destination']}"
+    obj_file = "#{File.basename(file, C_EXTENSION)}#{$cfg['compiler']['object_files']['extension']}"
+    execute(cmd_str + obj_file)
+    return obj_file
+  end
+
+  def build_linker_fields
+    command  = tackit($cfg['linker']['path'])
+    if $cfg['linker']['options'].nil?
+      options  = ''
+    else
+      options  = squash('', $cfg['linker']['options'])
+    end
+    if ($cfg['linker']['includes'].nil? || $cfg['linker']['includes']['items'].nil?)
+      includes = ''
+    else
+      includes = squash($cfg['linker']['includes']['prefix'], $cfg['linker']['includes']['items'])
+    end
+    includes = includes.gsub(/\\ /, ' ').gsub(/\\\"/, '"').gsub(/\\$/, '') # Remove trailing slashes (for IAR)
+    return {:command => command, :options => options, :includes => includes}
+  end
+
+  def link_it(exe_name, obj_list)
+    linker = build_linker_fields
+    cmd_str = "#{linker[:command]}#{linker[:includes]} " +
+      (obj_list.map{|obj|"#{$cfg['linker']['object_files']['path']}#{obj} "}).join +
+      $cfg['linker']['bin_files']['prefix'] + ' ' +
+      $cfg['linker']['bin_files']['destination'] +
+      exe_name + $cfg['linker']['bin_files']['extension'] + " #{linker[:options]}"
+    execute(cmd_str)
+  end
+
+  def build_simulator_fields
+    return nil if $cfg['simulator'].nil?
+    if $cfg['simulator']['path'].nil?
+      command = ''
+    else
+      command = (tackit($cfg['simulator']['path']) + ' ')
+    end
+    if $cfg['simulator']['pre_support'].nil?
+      pre_support = ''
+    else
+      pre_support = squash('', $cfg['simulator']['pre_support'])
+    end
+    if $cfg['simulator']['post_support'].nil?
+      post_support = ''
+    else
+      post_support = squash('', $cfg['simulator']['post_support'])
+    end
+    return {:command => command, :pre_support => pre_support, :post_support => post_support}
+  end
+
+  def execute(command_string, logOutput: true)
+    report(command_string) if $logCmd
+    output = `#{command_string}`.chomp
+    report(output) if (logOutput && !output.nil? && (output.length > 0))
+    if $?.exitstatus != 0
+      raise "Command failed. (Returned #{$?.exitstatus})"
+    end
+    return output
+  end
+
+  def report_summary
+    summary = UnityTestSummary.new
+    summary.set_root_path(HERE)
+    results_glob = "#{$cfg['compiler']['build_path']}*.test*"
+    results_glob.gsub!(/\\/, '/')
+    results = Dir[results_glob]
+    summary.set_targets(results)
+    report summary.run
+    raise "There were failures" if (summary.failures > 0)
+  end
+
+  def parse_and_run_tests(args)
+    defines = find_defines_in_args(args)
+    test_files = find_test_files_in_args(args)
+    output_style = find_output_style_in_args(args)
+
+    set_environment_vars($cfg['env'])
+
+    # No file names found in the args, find all files that are unit test files
+    if test_files.length == 0
+      test_files = exclude_test_files(get_unit_test_files(), defines)
+    end
+
+    run_tests(test_files, defines, output_style)
+  end
+
+  def run_tests(test_files, defines, output_style)
+    report 'Running system tests...'
+
+    # Tack on TEST define for compiling unit tests
+    load_configuration($cfg_file)
+    test_defines = ['TEST']
+    $cfg['compiler']['defines']['items'] = [] if $cfg['compiler']['defines']['items'].nil?
+    $cfg['compiler']['defines']['items'] << 'TEST'
+    $cfg['compiler']['defines']['items'].concat defines
+
+    # Supress logging of commands and all warningns in minimalistic output style
+    $logCmd = true
+    if output_style.include?('min')
+      $cfg['compiler']['options'] << '-w'
+      $logCmd = false
+    end
+
+    include_dirs = get_local_include_dirs
+
+    # Build and execute each unit test
+    test_files.each do |test|
+      obj_list = []
+
+      # Detect dependencies and build required modules
+      header_list = extract_headers(test) + ['cmock.h']
+
+      header_list.each do |header|
+
+        #create mocks if needed
+        if (header =~ /mock_/)
+          include_name = header.gsub('mock_','')
+          header_file = find_file(include_name, include_dirs)
+
+          require "./vendor/cmock/lib/cmock.rb"
+          @cmock ||= CMock.new($cfg_file)
+          @cmock.setup_mocks([header_file])
+        end
+
+      end
+
+      #compile all mocks
+      header_list.each do |header|
+        #compile source file header if it exists
+        src_file = find_source_file(header, include_dirs)
+        if !src_file.nil?
+          obj_list << compile(src_file, test_defines)
+        end
+      end
+
+      # build libs
+      lib_annotations = read_lib_annotations(test)
+      obj_list += add_lib_source_files(lib_annotations, test_defines)
+
+      # Build the test runner (generate if configured to do so)
+      test_base = File.basename(test, C_EXTENSION)
+      runner_name = test_base + '_Runner.c'
+      if $cfg['compiler']['runner_path'].nil?
+        runner_path = $cfg['compiler']['build_path'] + runner_name
+        test_gen = UnityTestRunnerGenerator.new($cfg_file)
+        test_gen.run(test, runner_path)
+      else
+        runner_path = $cfg['compiler']['runner_path'] + runner_name
+      end
+
+      obj_list << compile(runner_path, test_defines)
+
+      # Build the test module
+      obj_list << compile(test, test_defines)
+
+      # Link the test executable
+      link_it(test_base, obj_list)
+
+      # Execute unit test and generate results file
+      simulator = build_simulator_fields
+      executable = $cfg['linker']['bin_files']['destination'] + test_base + $cfg['linker']['bin_files']['extension']
+      if simulator.nil?
+        cmd_str = executable
+      else
+        cmd_str = "#{simulator[:command]} #{simulator[:pre_support]} #{executable} #{simulator[:post_support]}"
+      end
+      output = execute(cmd_str)
+      test_results = $cfg['compiler']['build_path'] + test_base
+      if output.match(/OK$/m).nil?
+        test_results += '.testfail'
+      else
+        test_results += '.testpass'
+      end
+      File.open(test_results, 'w') { |f| f.print output }
+    end
+  end
+
+  def build_application(main)
+
+    report "Building application..."
+
+    obj_list = []
+    load_configuration($cfg_file)
+    main_path = $cfg['compiler']['source_path'] + main + C_EXTENSION
+
+    # Detect dependencies and build required modules
+    include_dirs = get_local_include_dirs
+    extract_headers(main_path).each do |header|
+      src_file = find_source_file(header, include_dirs)
+      if !src_file.nil?
+        obj_list << compile(src_file)
+      end
+    end
+
+    # Build the main source file
+    main_base = File.basename(main_path, C_EXTENSION)
+    obj_list << compile(main_path)
+
+    # Create the executable
+    link_it(main_base, obj_list)
+  end
+
+  def find_test_files_in_args(args)
+    key = 'FILES='
+    args.each do |arg|
+      if arg.start_with?(key)
+        return arg[(key.length)..-1].split(' ')
+      end
+    end
+  end
+
+  def find_output_style_in_args(args)
+    key = 'UNIT_TEST_STYLE='
+    args.each do |arg|
+      if arg.start_with?(key)
+        return arg[(key.length)..-1].split(' ')
+      end
+    end
+  end
+
+  # Parse the arguments and find all defines that are passed in on the command line
+  # Defines are part of compiler flags and start with -D, for instance -DMY_DEFINE
+  # All compiler flags are passed in as one string
+  def find_defines_in_args(args)
+    key = 'DEFINES='
+    args.each do |arg|
+      if arg.start_with?(key)
+        return extract_defines(arg[(key.length)..-1])
+      end
+    end
+  end
+
+  def extract_defines(arg)
+    arg.split(' ').select {|part| part.start_with?('-D')}.map {|flag| flag[2..-1]}
+  end
+
+  def exclude_test_files(files, defines)
+    files.select do |file|
+      !annotation_ignore_file?(file, defines)
+    end
+  end
+
+
+  # WARNING This implementation is fairly brittle. Basically only intended for cases such as
+  # // @IGNORE_IF_NOT PLATFORM_CF2
+  # Ignores values of defines, so this would fail and keep the file
+  # param to gradle: -DMYDEFINE=0
+  # // @IGNORE_IF_NOT MYDEFINE
+  def annotation_ignore_file?(file, defines)
+    ignore_str = '@IGNORE_IF_NOT'
+
+    File.foreach( file ) do |line|
+      if line.include? ignore_str
+        tokens = line.split(' ')
+        index = tokens.index ignore_str
+
+        if tokens.length >= (index + 2)
+          condition = tokens[index + 1]
+          conditionIsMet = defines.detect {|define| define == condition}
+          if !conditionIsMet
+            return true
+          end
+        end
+      end
+    end
+
+    return false
+  end
+
+  # Annotation to add files for libraries
+  # When this annotation is used source files for libs are added to the build
+  # with the unit test so that they can be called and does not have to be
+  # replaced by mocks.
+  def read_lib_annotations(file)
+    annotation_str = '@BUILD_LIB'
+    libs = []
+
+    File.foreach( file ) do |line|
+      if line.include? annotation_str
+        tokens = line.split(' ')
+        index = tokens.index annotation_str
+
+        if tokens.length >= (index + 2)
+          libs << tokens[index + 1]
+        end
+      end
+    end
+
+    libs
+  end
+
+  def add_lib_source_files(libs, test_defines)
+    obj_list = []
+    libs.each do |lib|
+      puts 'Adding lib ' + lib
+
+      files = $cfg['compiler']['libs'][lib]['files']
+      extra_options = $cfg['compiler']['libs'][lib]['extra_options']
+      files.each do |src_file|
+        obj_list << compile(src_file, test_defines, extra_options=extra_options)
+      end
+    end
+
+    obj_list
+  end
+
+  def set_environment_vars(env_vars)
+    # puts "Setting env vars: " + env_vars.to_s
+    env_vars.each do |key, val|
+      ENV[key] = val
+    end
+  end
+end
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/decodeItm.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/decodeItm.py
new file mode 100755
index 0000000000000000000000000000000000000000..05d59c1786d57dfd70adc82a597f92b9e2023337
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/decodeItm.py
@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+# Decodes ITM bit flow and print it on the console
+import sys
+import struct
+
+class EOFException(Exception):
+    pass
+
+def read_u8(file):
+    data = file.read(1)
+    if len(data) < 1:
+        raise EOFException()
+    return struct.unpack("<B", data)[0]
+
+
+def read_u16(file):
+    data = file.read(2)
+    if len(data) < 2:
+        raise EOFException()
+    return struct.unpack("<H", data)[0]
+
+
+def read_u32(file):
+    data = file.read(4)
+    if len(data) < 4:
+        raise EOFException()
+    return struct.unpack("<L", data)[0]
+
+if len(sys.argv) < 2:
+    print("Usage: {} <raw trace>".format(sys.argv[0]))
+    sys.exit(1)
+
+trace = open(sys.argv[1], "rb")
+
+# OS messages
+OS_MASK = 0xFF00
+OS_MESSAGES = {
+    0x0100: "ITM_QUEUE_SEND",
+    0x0200: "QUEUE_FAILED",
+    0x0300: "BLOCKING_ON_QUEUE_RECEIVE",
+    0x0400: "BLOCKING_ON_QUEUE_SEND"
+}
+
+# Decoding...
+ctn = 0
+try:
+    while True:
+        b = read_u8(trace)
+        # sys.stdout.write("0x{:04x} ".format(ctn))
+        ctn += 1
+
+        if b == 0 or b == 0x80:
+            pass
+        elif b == 0b01110000:
+            print("OVF")
+        elif (b & 0x0f) == 0:
+            print ("LTS")
+            while (b & 0x7F) != 0:
+                b = read_u8(trace)
+                ctn += 1
+        elif (b & 0b00001011) == 0b00001000:
+            print("EXT")
+            while (b & 0x7F) != 0:
+                b = read_u8(trace)
+                ctn += 1
+        elif (b & 0b11011111) == 0b10010100:
+            print("GTS")
+            while (b & 0x7F) != 0:
+                b = read_u8(trace)
+                ctn += 1
+        elif (b & 0x03) != 0:    # Source packet
+            s = b & 0x03
+            a = b >> 3
+            data = 0
+            data_str = ""
+            info = ""
+            if s == 1:
+                data = read_u8(trace)
+                data_str = "0x{:02x}".format(data)
+                ctn += 1
+            elif s == 2:
+                data = read_u16(trace)
+                data_str = "0x{:02x}".format(data)
+                ctn += 2
+            elif s == 3:
+                data = read_u32(trace)
+                data_str = "0x{:02x}".format(data)
+                ctn += 4
+            if (b & 0x04) == 0:  # ITM/SW
+                info = ""
+                if a == 1:
+                    info = "\t# Task: " + struct.pack("<L", data).decode('utf8')
+                if a == 2:
+                    info = "\t# Systick: 0x{:04x}".format(data)
+                if a == 3:
+                    info = "\t\t# OS {} {}".format(OS_MESSAGES[data&OS_MASK], data & (~OS_MASK))
+                print("ITM {} {} {}".format(a, data_str, info))
+            else:                # DWT/HW
+                if a == 1:
+                    info = "\t# "
+                    if data_str[2] == "1":
+                        info += "Enter "
+                    elif data_str[2] == "2":
+                        info += "Exit "
+                    else:
+                        info += "returned to "
+                    info += "IRQ 0x" + data_str[4:]
+                print("DWT {} {} {}".format(a, data_str, info))
+
+        else:
+            pass
+except EOFException:
+    pass
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/enable_trace.cfg b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/enable_trace.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..be155efaa8a7af5f8aad00cef77f84a688d8281c
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/trace/enable_trace.cfg
@@ -0,0 +1,51 @@
+# Enables all ITM ports,
+
+# Helper functions
+proc setbits {ADDR MASK} {
+   set data(0) 0
+   mem2array data 32 $ADDR 1
+   set data(0) [expr $data(0) | $MASK]
+   array2mem data 32 $ADDR 1
+}
+
+proc clearbits {ADDR MASK} {
+   set data(0) 0
+   mem2array data 32 $ADDR 1
+   set data(0) [expr $data(0) & ~$MASK]
+   array2mem data 32 $ADDR 1
+}
+
+# Register addresses
+set RCC_APB2ENR          0x40021018
+set AFIO_MAPR            0x40010004
+set DBGMCU_CR            0xe0042004
+set COREDEBUG_DEMCR      0xe000edfc
+set TPI_ACPR             0xe0040010
+set TPI_SPPR             0xe00400f0
+set TPI_FFCR             0xe0040304
+set DWT_CTRL             0xe0001000
+set ITM_LAR              0xe0000fb0
+set ITM_TCR              0xe0000e80
+set ITM_TER              0xe0000e00
+set ETM_LAR              0xe0041fb0
+set ETM_CR               0xe0041000
+set ETM_TRACEIDR         0xe0041200
+set ETM_TECR1            0xe0041024
+set ETM_FFRR             0xe0041028
+set ETM_FFLR             0xe004102c
+
+halt
+
+# Enable SWO trace acquisition from STLink (without tpiu formater, no ETM)
+tpiu config internal trace.out uart off 168000000
+
+# Enable DWT exception trace
+# mww $DWT_CTRL 0x00010000                   ;# exc trace
+
+# Enable All ITM stimulus ports
+mww $ITM_LAR 0xC5ACCE55
+mww $ITM_TCR 0x0001000d                    ;# TraceBusID 1, enable dwt/itm/sync
+mww $ITM_TER 0xffffffff                    ;# Enable all stimulus ports
+
+
+resume
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/cfusdlog.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/cfusdlog.py
new file mode 100644
index 0000000000000000000000000000000000000000..abb389da0e03aa06aa18430800cfc9ffbd12085e
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/cfusdlog.py
@@ -0,0 +1,102 @@
+# -*- coding: utf-8 -*-
+"""
+Helper to decode binary logged sensor data from crazyflie2 with uSD-Card-Deck
+"""
+import argparse
+from zlib import crc32
+import struct
+import numpy as np
+
+# extract null-terminated string
+def _get_name(data, idx):
+    endIdx = idx
+    while data[endIdx] != 0:
+        endIdx = endIdx + 1
+    return data[idx:endIdx].decode("utf-8"), endIdx + 1
+
+def decode(filename):
+    # read file as binary
+    with open(filename, 'rb') as f:
+        data = f.read()
+
+    # check magic header
+    if data[0] != 0xBC:
+        print("Unsupported format!")
+        return
+
+    # check CRC
+    crc = crc32(data[0:-4])
+    expected_crc, = struct.unpack('I', data[-4:])
+    if crc != expected_crc:
+        print("WARNING: CRC does not match!")
+
+    # check version
+    version, num_event_types = struct.unpack('HH', data[1:5])
+    if version != 1 and version != 2:
+        print("Unsupported version!", version)
+        return
+
+    result = dict()
+    event_by_id = dict()
+
+    # read header with data types
+    idx = 5
+    for _ in range(num_event_types):
+        event_id, = struct.unpack('H', data[idx:idx+2])
+        idx += 2
+        event_name, idx = _get_name(data, idx)
+        result[event_name] = dict()
+        result[event_name]["timestamp"] = []
+        num_variables, = struct.unpack('H', data[idx:idx+2])
+        idx += 2
+        fmtStr = "<"
+        variables = []
+        for _ in range(num_variables):
+            var_name_and_type, idx = _get_name(data, idx)
+            var_name = var_name_and_type[0:-3]
+            var_type = var_name_and_type[-2]
+            result[event_name][var_name] = []
+            fmtStr += var_type
+            variables.append(var_name)
+        event_by_id[event_id] = {
+            'name': event_name,
+            'fmtStr': fmtStr,
+            'numBytes': struct.calcsize(fmtStr),
+            'variables': variables,
+            }
+
+    while idx < len(data) - 4:
+        if version == 1:
+            event_id, timestamp, = struct.unpack('<HI', data[idx:idx+6])
+            idx += 6
+        elif version == 2:
+            event_id, timestamp, = struct.unpack('<HQ', data[idx:idx+10])
+            timestamp = timestamp / 1000.0
+            idx += 10
+        event = event_by_id[event_id]
+        fmtStr = event['fmtStr']
+        eventData = struct.unpack(fmtStr, data[idx:idx+event['numBytes']])
+        idx += event['numBytes']
+        for v,d in zip(event['variables'], eventData):
+            result[event['name']][v].append(d)
+        result[event['name']]["timestamp"].append(timestamp)
+
+    # remove keys that had no data
+    for event_name in list(result.keys()):
+        if len(result[event_name]['timestamp']) == 0:
+            del result[event_name]
+
+    # convert to numpy arrays
+    for event_name in result.keys():
+        for var_name in result[event_name]:
+            result[event_name][var_name] = np.array(result[event_name][var_name])
+
+    return result
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("filename")
+    args = parser.parse_args()
+    data = decode(args.filename)
+    print(data)
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config.txt b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26b9f1a29ff8ab9e2a9d9bb1a8fde340da8db1af
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config.txt
@@ -0,0 +1,25 @@
+1     # version
+512   # buffer size in bytes
+log   # file name
+0     # enable on startup (0/1)
+on:fixedFrequency
+250     # frequency
+1     # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
+acc.x
+acc.y
+acc.z
+gyro.x
+gyro.y
+gyro.z
+baro.asl
+baro.temp
+baro.pressure
+stabilizer.roll
+stabilizer.pitch
+stabilizer.yaw
+stabilizer.thrust
+ctrltarget.roll
+ctrltarget.pitch
+ctrltarget.yaw
+range.zrange
+on:activeMarkerModeChanged
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config_kalman.txt b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config_kalman.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43a49eca56f4aba6cc80f80e4c11e26394ecf7ae
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/config_kalman.txt
@@ -0,0 +1,39 @@
+1     # version
+2048  # buffer size in bytes
+log   # file name
+0     # enable on startup (0/1)
+on:estTDOA
+on:estPosition
+locSrv.x
+locSrv.y
+locSrv.z
+lighthouse.x
+lighthouse.y
+lighthouse.z
+on:estPose
+locSrv.x
+locSrv.y
+locSrv.z
+locSrv.qx
+locSrv.qy
+locSrv.qz
+locSrv.qw
+on:estDistance
+on:estTOF
+range.zrange
+on:estAbsoluteHeight
+on:estFlow
+motion.deltaX
+motion.deltaY
+on:estYawError
+on:estSweepAngle
+on:estGyroscope
+gyro.x
+gyro.y
+gyro.z
+on:estAcceleration
+acc.x
+acc.y
+acc.z
+on:estBarometer
+baro.asl
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/example.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/example.py
new file mode 100644
index 0000000000000000000000000000000000000000..4985169056ea1bc03ad0bbd092a37e681d9f4be1
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/example.py
@@ -0,0 +1,129 @@
+# -*- coding: utf-8 -*-
+"""
+example on how to plot decoded sensor data from crazyflie
+@author: jsschell
+"""
+import cfusdlog
+import matplotlib.pyplot as plt
+import re
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument("filename")
+args = parser.parse_args()
+
+# decode binary log data
+logData = cfusdlog.decode(args.filename)
+
+#only focus on regular logging
+logData = logData['fixedFrequency']
+
+# set window background to white
+plt.rcParams['figure.facecolor'] = 'w'
+    
+# number of columns and rows for suplot
+plotCols = 1
+plotRows = 1
+
+# let's see which keys exists in current data set
+keys = ""
+for k, v in logData.items():
+    keys += k
+
+# get plot config from user
+plotGyro = 0
+if re.search('gyro', keys):
+    inStr = input("plot gyro data? ([Y]es / [n]o): ")
+    if ((re.search('^[Yy]', inStr)) or (inStr == '')):
+        plotGyro = 1
+        plotRows += 1
+
+plotAccel = 0
+if re.search('acc', keys):
+    inStr = input("plot accel data? ([Y]es / [n]o): ")
+    if ((re.search('^[Yy]', inStr)) or (inStr == '')):
+        plotAccel = 1
+        plotRows += 1
+
+plotBaro = 0
+if re.search('baro', keys):
+    inStr = input("plot barometer data? ([Y]es / [n]o): ")
+    if ((re.search('^[Yy]', inStr)) or (inStr == '')):
+        plotBaro = 1
+        plotRows += 1
+
+plotCtrl = 0
+if re.search('ctrltarget', keys):
+    inStr = input("plot control data? ([Y]es / [n]o): ")
+    if ((re.search('^[Yy]', inStr)) or (inStr == '')):
+        plotCtrl = 1
+        plotRows += 1
+
+plotStab = 0
+if re.search('stabilizer', keys):
+    inStr = input("plot stabilizer data? ([Y]es / [n]o): ")
+    if ((re.search('^[Yy]', inStr)) or (inStr == '')):
+        plotStab = 1
+        plotRows += 1
+    
+# current plot for simple subplot usage
+plotCurrent = 0
+
+# new figure
+plt.figure(0)
+
+if plotGyro:
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['gyro.x'], '-', label='X')
+    plt.plot(logData['timestamp'], logData['gyro.y'], '-', label='Y')
+    plt.plot(logData['timestamp'], logData['gyro.z'], '-', label='Z')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Gyroscope [°/s]')
+    plt.legend(loc=9, ncol=3, borderaxespad=0.)
+ 
+if plotAccel:
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['acc.x'], '-', label='X')
+    plt.plot(logData['timestamp'], logData['acc.y'], '-', label='Y')
+    plt.plot(logData['timestamp'], logData['acc.z'], '-', label='Z')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Accelerometer [g]')
+    plt.legend(loc=9, ncol=3, borderaxespad=0.)
+ 
+if plotBaro:
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['baro.pressure'], '-')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Pressure [hPa]')
+    
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['baro.temp'], '-')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Temperature [degC]')
+
+if plotCtrl:
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['ctrltarget.roll'], '-', label='roll')
+    plt.plot(logData['timestamp'], logData['ctrltarget.pitch'], '-', label='pitch')
+    plt.plot(logData['timestamp'], logData['ctrltarget.yaw'], '-', label='yaw')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Control')
+    plt.legend(loc=9, ncol=3, borderaxespad=0.)
+
+if plotStab:
+    plotCurrent += 1
+    plt.subplot(plotRows, plotCols, plotCurrent)
+    plt.plot(logData['timestamp'], logData['stabilizer.roll'], '-', label='roll')
+    plt.plot(logData['timestamp'], logData['stabilizer.pitch'], '-', label='pitch')
+    plt.plot(logData['timestamp'], logData['stabilizer.yaw'], '-', label='yaw')
+    plt.plot(logData['timestamp'], logData['stabilizer.thrust'], '-', label='thrust')
+    plt.xlabel('timestamp [ms]')
+    plt.ylabel('Stabilizer')
+    plt.legend(loc=9, ncol=4, borderaxespad=0.)
+
+plt.show()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/plot_events.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/plot_events.py
new file mode 100644
index 0000000000000000000000000000000000000000..d707d5d8e38670a9cfa4744409da1e457ce3df28
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/usdlog/plot_events.py
@@ -0,0 +1,51 @@
+# -*- coding: utf-8 -*-
+"""
+plotting a generic USD log
+"""
+import cfusdlog
+import matplotlib.pyplot as plt
+import argparse
+import numpy as np
+import mplcursors
+import functools
+
+def showAnnotation(data, sel):
+    idx = sel.target.index
+    sel.annotation.set_text(
+        "\n".join(['{}: {}'.format(key, data[key][idx]) for key in data.keys()]))
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("file_usd")
+    args = parser.parse_args()
+
+    # decode binary log data
+    data_usd = cfusdlog.decode(args.file_usd)
+
+    # find start time
+    start_time = None
+    for k, (event_name, data) in enumerate(data_usd.items()):
+        if start_time is None:
+            start_time = data['timestamp'][0]
+        else:
+            start_time = min(start_time, data['timestamp'][0])
+
+    # new figure
+    fig, ax = plt.subplots(len(data_usd.keys()),1,sharex=True)
+
+    for k, (event_name, data) in enumerate(data_usd.items()):
+        # print(k, event_name)
+        t = (data['timestamp'] - start_time) / 1000
+        ax[k].scatter(t, t*0)
+        ax[k].set_title(event_name)
+
+        print(data.keys())
+
+        crs = mplcursors.cursor(ax[k],hover=True)
+
+        crs.connect("add", functools.partial(showAnnotation, data))
+
+    ax[-1].set_xlabel('Time [s]')
+
+
+    plt.show()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/reboot.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/reboot.py
new file mode 100755
index 0000000000000000000000000000000000000000..f5e4848a6bc617e0846716838235b0203d97efc3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/reboot.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2020 Bitcraze AB
+#
+# 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, in version 3.
+#
+# 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.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""
+Reboot a Crazyflie remotely using a Crazyradio
+"""
+import sys
+from cflib.utils.power_switch import PowerSwitch
+
+if len(sys.argv) != 2:
+    print("Error: uri is missing")
+    print('Usage: {} uri'.format(sys.argv[0]))
+    sys.exit(-1)
+
+PowerSwitch(sys.argv[1]).stm_power_cycle()
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/verify_flash.sh b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/verify_flash.sh
new file mode 100755
index 0000000000000000000000000000000000000000..5026062d0bbb51f875c65fbc1cff051ad1ce54b4
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/utils/verify_flash.sh
@@ -0,0 +1,34 @@
+#!/bin/sh
+
+#
+# This uses openocd to dump the flash and compares it to the firmware file to
+# make sure what we wanted to flash got there.
+#
+# $ ./verify_flash.sh [path to bin file]
+#
+
+binary="$1"
+dump=$(mktemp)
+
+croak() {
+    echo "$@"
+    rm "$dump"
+    exit 1
+}
+
+size=$(stat --printf="%s" "$binary") || {
+    croak "failed to stat file"
+}
+
+cmd="flash read_bank 0 $dump"
+openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c "$cmd" -c exit || {
+    croak "failed to read out flash with openocd"
+}
+
+cmp -l --ignore-initial=0x4000:0 --bytes="$size" "$dump" "$binary" || {
+    croak "files did not match!"
+}
+
+rm "$dump"
+
+exit 0
diff --git a/crazyflie_software/crazyflie-firmware-lab-part-1/tools/verify/elf_sanity.py b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/verify/elf_sanity.py
new file mode 100644
index 0000000000000000000000000000000000000000..23d35541b8a4443fc0e3631c89428026c5d4fcb0
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-lab-part-1/tools/verify/elf_sanity.py
@@ -0,0 +1,189 @@
+import argparse
+import struct
+import sys
+
+try:
+    from elftools.elf.elffile import ELFFile
+except ImportError:
+    print('pytelftools missing, install to run this script', file=sys.stderr)
+    print('https://github.com/eliben/pyelftools#installing', file=sys.stderr)
+    sys.exit(1)
+
+
+class Colors:
+    RED = '\033[91m'
+    BLUE = '\033[94m'
+    GREEN = '\033[92m'
+    END = '\033[0m'
+
+
+CORE = 0x20
+
+param_type_to_str_dict = {
+    0x0 | 0x0 << 2 | 0x1 << 3: 'PARAM_UINT8',
+    0x0 | 0x0 << 2 | 0x0 << 3: 'PARAM_INT8',
+    0x1 | 0x0 << 2 | 0x1 << 3: 'PARAM_UIN16',
+    0x1 | 0x0 << 2 | 0x0 << 3: 'PARAM_INT16',
+    0x2 | 0x0 << 2 | 0x1 << 3: 'PARAM_UINT32',
+    0x2 | 0x0 << 2 | 0x0 << 3: 'PARAM_INT32',
+    0x2 | 0x1 << 2 | 0x0 << 3: 'PARAM_FLOAT'
+}
+
+
+def param_type_to_str(t: int) -> str:
+    extra = str()
+
+    if t & (1 << 5):  # PARAM_CORE set
+        extra = ' | PARAM_CORE'
+
+    if t & (1 << 6):  # PARAM_RONLY set
+        extra += ' | PARAM_RONLY'
+
+    int_type = t & ~(1 << 5 | 1 << 6)
+
+    return '{:12}{}'.format(param_type_to_str_dict[int_type], extra)
+
+
+log_type_to_str_dict = {
+    0x1: 'LOG_UINT8',
+    0x2: 'LOG_INT8',
+    0x3: 'LOG_UIN16',
+    0x4: 'LOG_INT16',
+    0x5: 'LOG_UINT32',
+    0x6: 'LOG_INT32',
+    0x7: 'LOG_FLOAT',
+    0x8: 'LOG_FP16'
+}
+
+
+def log_type_to_str(t: int) -> str:
+    extra = str()
+
+    if t & (1 << 5):  # LOG_CORE set
+        extra = ' | LOG_CORE'
+
+    if t & (1 << 6):  # BY_FUNCTION set
+        extra += ' | BY_FUNCTION'
+
+    int_type = t & ~(1 << 5 | 1 << 6)
+
+    return '{:12}{}'.format(log_type_to_str_dict[int_type], extra)
+
+
+def process_file(filename, list_params: bool, list_logs: bool, core: bool):
+    with open(filename, 'rb') as f:
+        parameters = check_structs(f, 'param', core)
+        if list_params:
+            for key in sorted(parameters.keys()):
+                t = parameters[key]
+                print('{:25}\t{}'.format(key, param_type_to_str(t)))
+
+        logs = check_structs(f, 'log', core)
+        if list_logs:
+            for key in sorted(logs.keys()):
+                t = logs[key]
+                print('{:25}\t{}'.format(key, log_type_to_str(t)))
+
+        n_logs = Colors.GREEN + str(len(logs.keys())) + Colors.END
+        n_params = Colors.BLUE + str(len(parameters.keys())) + Colors.END
+        print('{} parameters and {} log vars in elf'.format(n_params, n_logs))
+
+
+def get_offset_of(elf, addr):
+    for seg in elf.iter_segments():
+        if seg.header['p_type'] != 'PT_LOAD':
+            continue
+
+        # If the symbol is inside the range of a LOADed segment, calculate the
+        # file offset by subtracting the virtual start address and adding the
+        # file offset of the loaded section(s)
+        if addr >= seg['p_vaddr'] and addr < seg['p_vaddr'] + seg['p_filesz']:
+            return addr - seg['p_vaddr'] + seg['p_offset']
+
+    return None
+
+
+def get_offset_of_symbol(elf, name):
+    section = elf.get_section_by_name('.symtab')
+    sym = section.get_symbol_by_name(name)[0]
+    if not sym:
+        print('symbol %s not found' % name, file=sys.stderr)
+        sys.exit(1)
+
+    return get_offset_of(elf, sym['st_value'])
+
+
+def check_structs(stream, what: str, core: bool) -> dict:
+    elf = ELFFile(stream)
+    offset = get_offset_of_symbol(elf, '_{}_start'.format(what))
+    stop_offset = get_offset_of_symbol(elf, '_{}_stop'.format(what))
+
+    name_type_dict = {}
+    name_maxlen = 25
+    struct_len = 12
+    group_bit = 0x1 << 7
+    start_bit = 0x1
+
+    while offset < stop_offset:
+        elf.stream.seek(offset)
+        #
+        # Parsing log or param, first unpack the struct:
+        # struct [param_s|log_s] {
+        #   uint8_t type;
+        #   char * name;
+        #   void * address;
+        # };
+        #
+        # We want the type and the name.
+        #
+        buffer = elf.stream.read(struct_len)
+        t, addr = struct.unpack('@Bxxxixxxx', buffer)
+        #
+        # Next, convert address of name to offset in elf
+        #
+        addr = get_offset_of(elf, addr)
+        #
+        # And read the name from that offset
+        #
+        elf.stream.seek(addr)
+        name = ''.join(iter(lambda: stream.read(1).decode('ascii'), '\x00'))
+        #
+        # Check if this is start of a group
+        #
+        if t & group_bit != 0 and t & start_bit != 0:
+            current_group = name
+        elif t & group_bit == 0:
+            name = '%s.%s' % (current_group, name)
+            if name in name_type_dict:
+                print('%sDuplicate parameter detected!%s (%s)' %
+                      (Colors.RED, Colors.END, name), file=sys.stderr)
+                sys.exit(1)
+            else:
+                #
+                # If core only is specified we check if the core flag is set
+                #
+                if not core or (t & CORE) != 0:
+                    name_type_dict[name] = t
+
+            if len(name) > name_maxlen:
+                print('%sName too long!%s (%s > %d)' %
+                      (Colors.RED, Colors.END, name, name_maxlen),
+                      file=sys.stderr)
+                sys.exit(1)
+
+        offset += struct_len
+    return name_type_dict
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--list-params', action='store_true')
+    parser.add_argument('--list-logs', action='store_true')
+    parser.add_argument('--core', action='store_true')
+    parser.add_argument('filename', nargs=argparse.REMAINDER)
+    args = parser.parse_args()
+
+    if args.filename:
+        process_file(args.filename[0], args.list_params, args.list_logs, args.core)
+    else:
+        sys.exit(1)