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diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log b/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log
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-19:41:59 **** Clean-only build of configuration Debug for project modular_quad_pid ****
-make clean 
-rm -rf  ./src/PID.o ./src/actuator_command_processing.o ./src/commands.o ./src/communication.o ./src/control_algorithm.o ./src/controllers.o ./src/conversion.o ./src/iic_mpu9150_utils.o ./src/initialize_components.o ./src/log_data.o ./src/main.o ./src/mio7_led.o ./src/new_log_data.o ./src/packet_processing.o ./src/platform.o ./src/send_actuator_commands.o ./src/sensor.o ./src/sensor_processing.o ./src/stringBuilder.o ./src/timer.o ./src/uart.o ./src/update_gui.o ./src/user_input.o ./src/util.o  ./src/PID.d ./src/actuator_command_processing.d ./src/commands.d ./src/communication.d ./src/control_algorithm.d ./src/controllers.d ./src/conversion.d ./src/iic_mpu9150_utils.d ./src/initialize_components.d ./src/log_data.d ./src/main.d ./src/mio7_led.d ./src/new_log_data.d ./src/packet_processing.d ./src/platform.d ./src/send_actuator_commands.d ./src/sensor.d ./src/sensor_processing.d ./src/stringBuilder.d ./src/timer.d ./src/uart.d ./src/update_gui.d ./src/user_input.d ./src/util.d  modular_quad_pid.elf.size  modular_quad_pid.elf
- 
-19:41:59 **** Build of configuration Debug for project modular_quad_pid ****
-make all 
-Building file: ../src/PID.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp_new/ps7_cortexa9_0/include -MMD -MP -MF"src/PID.d" -MT"src/PID.d" -o "src/PID.o" "../src/PID.c"
-Finished building: ../src/PID.c
- 
-Building file: ../src/actuator_command_processing.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp_new/ps7_cortexa9_0/include -MMD -MP -MF"src/actuator_command_processing.d" -MT"src/actuator_command_processing.d" -o "src/actuator_command_processing.o" "../src/actuator_command_processing.c"
-In file included from ../src/log_data.h:16:0,
-                 from ../src/actuator_command_processing.h:13,
-                 from ../src/actuator_command_processing.c:8:
-../src/uart.h:11:25: fatal error: xparameters.h: No such file or directory
-compilation terminated.
-make: *** [src/actuator_command_processing.o] Error 1
-19:42:31 **** Clean-only build of configuration Debug for project modular_quad_pid ****
-make clean 
-rm -rf  ./src/PID.o ./src/actuator_command_processing.o ./src/commands.o ./src/communication.o ./src/control_algorithm.o ./src/controllers.o ./src/conversion.o ./src/iic_mpu9150_utils.o ./src/initialize_components.o ./src/log_data.o ./src/main.o ./src/mio7_led.o ./src/new_log_data.o ./src/packet_processing.o ./src/platform.o ./src/send_actuator_commands.o ./src/sensor.o ./src/sensor_processing.o ./src/stringBuilder.o ./src/timer.o ./src/uart.o ./src/update_gui.o ./src/user_input.o ./src/util.o  ./src/PID.d ./src/actuator_command_processing.d ./src/commands.d ./src/communication.d ./src/control_algorithm.d ./src/controllers.d ./src/conversion.d ./src/iic_mpu9150_utils.d ./src/initialize_components.d ./src/log_data.d ./src/main.d ./src/mio7_led.d ./src/new_log_data.d ./src/packet_processing.d ./src/platform.d ./src/send_actuator_commands.d ./src/sensor.d ./src/sensor_processing.d ./src/stringBuilder.d ./src/timer.d ./src/uart.d ./src/update_gui.d ./src/user_input.d ./src/util.d  modular_quad_pid.elf.size  modular_quad_pid.elf
- 
-19:42:31 **** Clean-only build of project system_bsp ****
-make -k clean 
-rm -rf ps7_cortexa9_0
-19:42:33 **** Build of project system_bsp ****
-make -k all 
-libgen -hw ../system_hw_platform/system.xml\
-	       \
-	       -pe ps7_cortexa9_0 \
-	       -log libgen.log \
-	       system.mss
-libgen
-Xilinx EDK 14.7 Build EDK_P.20131013
-Copyright (c) 1995-2012 Xilinx, Inc.  All rights reserved.
-
-Command Line: libgen -hw ../system_hw_platform/system.xml -pe ps7_cortexa9_0
--log libgen.log system.mss 
-
-
-Staging source files.
-Running DRCs.
-Running generate.
-Running post_generate.
-Running include - 'gmake -s include "COMPILER=arm-xilinx-eabi-gcc"
-"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" "EXTRA_COMPILER_FLAGS=-g
--O0"'.
-
-Running libs - 'gmake -s libs "COMPILER=arm-xilinx-eabi-gcc"
-"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" "EXTRA_COMPILER_FLAGS=-g
--O0"'.
-Compiling common
-arm-xilinx-eabi-ar: creating ../../../lib/libxil.a
-Compiling standalone
-Compiling tmrctr
-Compiling gpio
-Compiling devcfg
-Compiling dmaps
-Compiling emacps
-Compiling gpiops
-Compiling iicps
-Compiling qspips
-Compiling scugic
-Compiling scutimer
-Compiling scuwdt
-Compiling uartps
-Compiling usbps
-Compiling xadcps
-Compiling cpu_cortexa9
-Running execs_generate.
-Finished building libraries
-19:43:15 **** Build of configuration Debug for project modular_quad_pid ****
-make all 
-Building file: ../src/PID.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp_new/ps7_cortexa9_0/include -MMD -MP -MF"src/PID.d" -MT"src/PID.d" -o "src/PID.o" "../src/PID.c"
-Finished building: ../src/PID.c
- 
-Building file: ../src/actuator_command_processing.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp_new/ps7_cortexa9_0/include -MMD -MP -MF"src/actuator_command_processing.d" -MT"src/actuator_command_processing.d" -o "src/actuator_command_processing.o" "../src/actuator_command_processing.c"
-In file included from ../src/log_data.h:16:0,
-                 from ../src/actuator_command_processing.h:13,
-                 from ../src/actuator_command_processing.c:8:
-../src/uart.h:11:25: fatal error: xparameters.h: No such file or directory
-compilation terminated.
-make: *** [src/actuator_command_processing.o] Error 1
-19:48:28 **** Clean-only build of configuration Debug for project modular_quad_pid ****
-make clean 
-rm -rf  ./src/PID.o ./src/actuator_command_processing.o ./src/commands.o ./src/communication.o ./src/control_algorithm.o ./src/controllers.o ./src/conversion.o ./src/iic_mpu9150_utils.o ./src/initialize_components.o ./src/log_data.o ./src/main.o ./src/mio7_led.o ./src/new_log_data.o ./src/packet_processing.o ./src/platform.o ./src/send_actuator_commands.o ./src/sensor.o ./src/sensor_processing.o ./src/stringBuilder.o ./src/timer.o ./src/uart.o ./src/update_gui.o ./src/user_input.o ./src/util.o  ./src/PID.d ./src/actuator_command_processing.d ./src/commands.d ./src/communication.d ./src/control_algorithm.d ./src/controllers.d ./src/conversion.d ./src/iic_mpu9150_utils.d ./src/initialize_components.d ./src/log_data.d ./src/main.d ./src/mio7_led.d ./src/new_log_data.d ./src/packet_processing.d ./src/platform.d ./src/send_actuator_commands.d ./src/sensor.d ./src/sensor_processing.d ./src/stringBuilder.d ./src/timer.d ./src/uart.d ./src/update_gui.d ./src/user_input.d ./src/util.d  modular_quad_pid.elf.size  modular_quad_pid.elf
- 
-19:48:29 **** Auto Build of configuration Debug for project modular_quad_pid ****
-make all 
-Building file: ../src/PID.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/PID.d" -MT"src/PID.d" -o "src/PID.o" "../src/PID.c"
-Finished building: ../src/PID.c
- 
-Building file: ../src/actuator_command_processing.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/actuator_command_processing.d" -MT"src/actuator_command_processing.d" -o "src/actuator_command_processing.o" "../src/actuator_command_processing.c"
-Finished building: ../src/actuator_command_processing.c
- 
-Building file: ../src/commands.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/commands.d" -MT"src/commands.d" -o "src/commands.o" "../src/commands.c"
-Finished building: ../src/commands.c
- 
-Building file: ../src/communication.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/communication.d" -MT"src/communication.d" -o "src/communication.o" "../src/communication.c"
-../src/communication.c: In function 'processCommand':
-../src/communication.c:137:3: warning: array subscript has type 'char' [-Wchar-subscripts]
-../src/communication.c:137:3: warning: array subscript has type 'char' [-Wchar-subscripts]
-Finished building: ../src/communication.c
- 
-Building file: ../src/control_algorithm.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/control_algorithm.d" -MT"src/control_algorithm.d" -o "src/control_algorithm.o" "../src/control_algorithm.c"
-Finished building: ../src/control_algorithm.c
- 
-Building file: ../src/controllers.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/controllers.d" -MT"src/controllers.d" -o "src/controllers.o" "../src/controllers.c"
-Finished building: ../src/controllers.c
- 
-Building file: ../src/conversion.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/conversion.d" -MT"src/conversion.d" -o "src/conversion.o" "../src/conversion.c"
-Finished building: ../src/conversion.c
- 
-Building file: ../src/iic_mpu9150_utils.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/iic_mpu9150_utils.d" -MT"src/iic_mpu9150_utils.d" -o "src/iic_mpu9150_utils.o" "../src/iic_mpu9150_utils.c"
-Finished building: ../src/iic_mpu9150_utils.c
- 
-Building file: ../src/initialize_components.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/initialize_components.d" -MT"src/initialize_components.d" -o "src/initialize_components.o" "../src/initialize_components.c"
-Finished building: ../src/initialize_components.c
- 
-Building file: ../src/log_data.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/log_data.d" -MT"src/log_data.d" -o "src/log_data.o" "../src/log_data.c"
-Finished building: ../src/log_data.c
- 
-Building file: ../src/main.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/main.d" -MT"src/main.d" -o "src/main.o" "../src/main.c"
-Finished building: ../src/main.c
- 
-Building file: ../src/mio7_led.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/mio7_led.d" -MT"src/mio7_led.d" -o "src/mio7_led.o" "../src/mio7_led.c"
-Finished building: ../src/mio7_led.c
- 
-Building file: ../src/new_log_data.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/new_log_data.d" -MT"src/new_log_data.d" -o "src/new_log_data.o" "../src/new_log_data.c"
-Finished building: ../src/new_log_data.c
- 
-Building file: ../src/packet_processing.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/packet_processing.d" -MT"src/packet_processing.d" -o "src/packet_processing.o" "../src/packet_processing.c"
-Finished building: ../src/packet_processing.c
- 
-Building file: ../src/platform.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/platform.d" -MT"src/platform.d" -o "src/platform.o" "../src/platform.c"
-Finished building: ../src/platform.c
- 
-Building file: ../src/send_actuator_commands.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/send_actuator_commands.d" -MT"src/send_actuator_commands.d" -o "src/send_actuator_commands.o" "../src/send_actuator_commands.c"
-Finished building: ../src/send_actuator_commands.c
- 
-Building file: ../src/sensor.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/sensor.d" -MT"src/sensor.d" -o "src/sensor.o" "../src/sensor.c"
-Finished building: ../src/sensor.c
- 
-Building file: ../src/sensor_processing.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/sensor_processing.d" -MT"src/sensor_processing.d" -o "src/sensor_processing.o" "../src/sensor_processing.c"
-Finished building: ../src/sensor_processing.c
- 
-Building file: ../src/stringBuilder.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/stringBuilder.d" -MT"src/stringBuilder.d" -o "src/stringBuilder.o" "../src/stringBuilder.c"
-Finished building: ../src/stringBuilder.c
- 
-Building file: ../src/timer.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/timer.d" -MT"src/timer.d" -o "src/timer.o" "../src/timer.c"
-Finished building: ../src/timer.c
- 
-Building file: ../src/uart.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/uart.d" -MT"src/uart.d" -o "src/uart.o" "../src/uart.c"
-Finished building: ../src/uart.c
- 
-Building file: ../src/update_gui.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/update_gui.d" -MT"src/update_gui.d" -o "src/update_gui.o" "../src/update_gui.c"
-Finished building: ../src/update_gui.c
- 
-Building file: ../src/user_input.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/user_input.d" -MT"src/user_input.d" -o "src/user_input.o" "../src/user_input.c"
-Finished building: ../src/user_input.c
- 
-Building file: ../src/util.c
-Invoking: ARM gcc compiler
-arm-xilinx-eabi-gcc -Wall -O0 -g3 -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"src/util.d" -MT"src/util.d" -o "src/util.o" "../src/util.c"
-Finished building: ../src/util.c
- 
-Building target: modular_quad_pid.elf
-Invoking: ARM gcc linker
-arm-xilinx-eabi-gcc -Wl,-T -Wl,../src/lscript.ld -L../../system_bsp/ps7_cortexa9_0/lib -o "modular_quad_pid.elf"  ./src/PID.o ./src/actuator_command_processing.o ./src/commands.o ./src/communication.o ./src/control_algorithm.o ./src/controllers.o ./src/conversion.o ./src/iic_mpu9150_utils.o ./src/initialize_components.o ./src/log_data.o ./src/main.o ./src/mio7_led.o ./src/new_log_data.o ./src/packet_processing.o ./src/platform.o ./src/send_actuator_commands.o ./src/sensor.o ./src/sensor_processing.o ./src/stringBuilder.o ./src/timer.o ./src/uart.o ./src/update_gui.o ./src/user_input.o ./src/util.o   -lm -Wl,--start-group,-lxil,-lgcc,-lc,--end-group
-Finished building target: modular_quad_pid.elf
- 
-Invoking: ARM Print Size
-arm-xilinx-eabi-size modular_quad_pid.elf  |tee "modular_quad_pid.elf.size"
-   text	   data	    bss	    dec	    hex	filename
- 156328	  67312	119149912	119373552	71d7ef0	modular_quad_pid.elf
-Finished building: modular_quad_pid.elf.size
- 
-19:49:48 **** Auto Build of configuration Debug for project modular_quad_pid ****
-make all 
-make: Nothing to be done for `all'.
diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/modular_quad_pid.build.log b/.metadata/.plugins/org.eclipse.cdt.ui/modular_quad_pid.build.log
deleted file mode 100644
index 3ea6b85db4e50e3d1d2249788970d33911b59c1a..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.cdt.ui/modular_quad_pid.build.log
+++ /dev/null
@@ -1,6 +0,0 @@
-19:49:48 **** Auto Build of configuration Debug for project modular_quad_pid ****
-make all 
-make: Nothing to be done for `all'.
-
-19:49:49 Build Finished (took 176ms)
-
diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/system_bsp.build.log b/.metadata/.plugins/org.eclipse.cdt.ui/system_bsp.build.log
deleted file mode 100644
index 6f3ae9603d9f553c4cfbcb2617b78ca6f1ae4815..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.cdt.ui/system_bsp.build.log
+++ /dev/null
@@ -1,49 +0,0 @@
-19:42:33 **** Build of project system_bsp ****
-make -k all 
-libgen -hw ../system_hw_platform/system.xml\
-	       \
-	       -pe ps7_cortexa9_0 \
-	       -log libgen.log \
-	       system.mss
-libgen
-Xilinx EDK 14.7 Build EDK_P.20131013
-Copyright (c) 1995-2012 Xilinx, Inc.  All rights reserved.
-
-Command Line: libgen -hw ../system_hw_platform/system.xml -pe ps7_cortexa9_0
--log libgen.log system.mss 
-
-
-Staging source files.
-Running DRCs.
-Running generate.
-Running post_generate.
-Running include - 'gmake -s include "COMPILER=arm-xilinx-eabi-gcc"
-"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" "EXTRA_COMPILER_FLAGS=-g
--O0"'.
-
-Running libs - 'gmake -s libs "COMPILER=arm-xilinx-eabi-gcc"
-"ARCHIVER=arm-xilinx-eabi-ar" "COMPILER_FLAGS= -O2 -c" "EXTRA_COMPILER_FLAGS=-g
--O0"'.
-Compiling common
-arm-xilinx-eabi-ar: creating ../../../lib/libxil.a
-Compiling standalone
-Compiling tmrctr
-Compiling gpio
-Compiling devcfg
-Compiling dmaps
-Compiling emacps
-Compiling gpiops
-Compiling iicps
-Compiling qspips
-Compiling scugic
-Compiling scutimer
-Compiling scuwdt
-Compiling uartps
-Compiling usbps
-Compiling xadcps
-Compiling cpu_cortexa9
-Running execs_generate.
-Finished building libraries
-
-19:43:15 Build Finished (took 42s.116ms)
-
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/e4/properties.index b/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/e4/properties.index
deleted file mode 100644
index 74453023bd108c0a498211eec758cd3c56a8c335..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/e4/properties.index and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/properties.index b/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/properties.index
deleted file mode 100644
index cf576b7865dc34189d478a0653be476504541d76..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.indexes/properties.index and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.markers.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.markers.snap
deleted file mode 100644
index 17e60a98f2fbdce7e0e176c08ae2c7951576ce7c..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.markers.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.syncinfo.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.syncinfo.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/modular_quad_pid/.syncinfo.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.indexes/properties.index b/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.indexes/properties.index
deleted file mode 100644
index 7f258492decb84811302f363d341688338d215b3..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.indexes/properties.index and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.markers.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.markers.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.markers.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.syncinfo.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.syncinfo.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_bsp/.syncinfo.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.markers.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.markers.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.markers.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.syncinfo.snap b/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.syncinfo.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.projects/system_hw_platform/.syncinfo.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index b/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index
deleted file mode 100644
index 79c168abc074267d242f416d381a1df47c46316f..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.root/.markers.snap b/.metadata/.plugins/org.eclipse.core.resources/.root/.markers.snap
deleted file mode 100644
index 0b368ce14fbcdffc79d020bc00b88646cda52674..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.root/.markers.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources b/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
deleted file mode 100644
index 03d8a65587e36bf9a79cddc7442a74f976391989..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.resources/.snap b/.metadata/.plugins/org.eclipse.core.resources/.snap
deleted file mode 100644
index e6131278401496f146accd71c1db718f04729558..0000000000000000000000000000000000000000
Binary files a/.metadata/.plugins/org.eclipse.core.resources/.snap and /dev/null differ
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-modular_quad_pid.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-modular_quad_pid.prefs
deleted file mode 100644
index fe359e91bda3026a88e24a332eabe3705bc2fb9f..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-modular_quad_pid.prefs
+++ /dev/null
@@ -1,3 +0,0 @@
-eclipse.preferences.version=1
-indexer/preferenceScope=0
-language.settings.providers.disabled=false
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-system_bsp.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-system_bsp.prefs
deleted file mode 100644
index fe359e91bda3026a88e24a332eabe3705bc2fb9f..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.core.prj-system_bsp.prefs
+++ /dev/null
@@ -1,3 +0,0 @@
-eclipse.preferences.version=1
-indexer/preferenceScope=0
-language.settings.providers.disabled=false
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs
deleted file mode 100644
index b8c92670efb27372fbd7f22d1a79f754065766c3..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.cdt.debug.core.cDebug.default_source_containers=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\n<sourceLookupDirector>\n<sourceContainers duplicates\="false">\n<container memento\="AbsolutePath" typeId\="org.eclipse.cdt.debug.core.containerType.absolutePath"/>\n<container memento\="programRelativePath" typeId\="org.eclipse.cdt.debug.core.containerType.programRelativePath"/>\n<container memento\="&lt;?xml version\=&quot;1.0&quot; encoding\=&quot;UTF-8&quot; standalone\=&quot;no&quot;?&gt;&\#10;&lt;project referencedProjects\=&quot;true&quot;/&gt;&\#10;" typeId\="org.eclipse.cdt.debug.core.containerType.project"/>\n</sourceContainers>\n</sourceLookupDirector>\n
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs
deleted file mode 100644
index 6443d90000cd388d704a76f0ddb40e09e7216d8a..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.managedbuilder.core.prefs
+++ /dev/null
@@ -1,3 +0,0 @@
-eclipse.preferences.version=1
-properties/modular_quad_pid.xilinx.gnu.arm.exe.832182557/xilinx.gnu.arm.exe.debug.980189137=\#\n\#Sun Oct 16 19\:49\:48 CDT 2016\nxilinx.gnu.arm.c.toolchain.compiler.debug.177835003\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.c.toolchain.assembler.debug.192056667\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.cxx.toolchain.linker.debug.1921379343\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.exe.debug.980189137\=\\\#\\n\\\#Sun Oct 16 19\\\:48\\\:28 CDT 2016\\nrcState\\\=0\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.exe.debug.toolchain.1195127676\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.size.debug.923967150\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.c.toolchain.linker.debug.360488201\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.toolchain.archiver.585254344\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\nxilinx.gnu.arm.cxx.toolchain.compiler.debug.1470236349\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=false\\n\n
-properties/modular_quad_pid.xilinx.gnu.arm.exe.832182557/xilinx.gnu.arm.exe.release.255973624=\#\n\#Sun Oct 16 19\:49\:48 CDT 2016\nxilinx.gnu.arm.cxx.toolchain.linker.release.1512126497\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.exe.release.toolchain.1375808537\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.toolchain.archiver.86822110\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.c.toolchain.assembler.release.1899854338\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.cxx.toolchain.compiler.release.1846278293\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.c.toolchain.linker.release.264708896\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.c.toolchain.compiler.release.85270120\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\nxilinx.gnu.arm.size.release.362029751\=\\\#\\n\\\#Sun Oct 16 19\\\:49\\\:48 CDT 2016\\nrebuildState\\\=true\\n\n
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
deleted file mode 100644
index dffc6b51349681ffb272ab899b3ef7c402cf49f9..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-version=1
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs
deleted file mode 100644
index 57e3b772f47fd83ed981a0d2f14991f7f8160e58..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs
+++ /dev/null
@@ -1,5 +0,0 @@
-//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.applicationLaunchType=org.eclipse.cdt.dsf.gdb.launch.localCLaunch,debug;org.eclipse.cdt.cdi.launch.localCLaunch,run
-//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.attachLaunchType=org.eclipse.cdt.dsf.gdb.launch.attachCLaunch,debug
-//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.postmortemLaunchType=org.eclipse.cdt.dsf.gdb.launch.coreCLaunch,debug
-//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.remoteApplicationLaunchType=org.eclipse.rse.remotecdt.dsf.debug,debug
-eclipse.preferences.version=1
diff --git a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs b/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
deleted file mode 100644
index 08076f236aa4ff36c64d28b14f96c86da910bf7d..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-showIntro=false
diff --git a/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml b/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
deleted file mode 100644
index cfd423671fdb0ddc2df5a2d6a22b4106a4a06fd4..0000000000000000000000000000000000000000
--- a/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<workingSetManager>
-<workingSet aggregate="true" factoryID="org.eclipse.ui.internal.WorkingSetFactory" id="1476664817124_0" label="Window Working Set" name="Aggregate for window 1476664817123"/>
-</workingSetManager>
\ No newline at end of file
diff --git a/.metadata/version.ini b/.metadata/version.ini
deleted file mode 100644
index c51ff745b6c995c410e2977bb11c544ed7f6ca76..0000000000000000000000000000000000000000
--- a/.metadata/version.ini
+++ /dev/null
@@ -1 +0,0 @@
-org.eclipse.core.runtime=1
\ No newline at end of file
diff --git a/modular_quad_pid/Debug/modular_quad_pid.elf b/modular_quad_pid/Debug/modular_quad_pid.elf
index e19cc8f6d8fd5263e211709d8d8108670acf91fb..c18026c61f6ea02f161164ebd675ca7b294fe9ab 100644
Binary files a/modular_quad_pid/Debug/modular_quad_pid.elf and b/modular_quad_pid/Debug/modular_quad_pid.elf differ
diff --git a/modular_quad_pid/Debug/modular_quad_pid.elf.size b/modular_quad_pid/Debug/modular_quad_pid.elf.size
index aafdbb8fe3eec9fca6c995545d684e150e5e9c8b..22176242d09a4625cc113932cf9c2116b7972b51 100644
--- a/modular_quad_pid/Debug/modular_quad_pid.elf.size
+++ b/modular_quad_pid/Debug/modular_quad_pid.elf.size
@@ -1,2 +1,2 @@
    text	   data	    bss	    dec	    hex	filename
- 156328	  67312	119149912	119373552	71d7ef0	modular_quad_pid.elf
+ 156504	  67312	119149912	119373728	71d7fa0	modular_quad_pid.elf
diff --git a/modular_quad_pid/Debug/src/commands.o b/modular_quad_pid/Debug/src/commands.o
index cd167cd53fc950e1aabe6dbf73a9e961fb428e93..bd8fd382e34ecdeb7ccec75e662b99a2296b3c34 100644
Binary files a/modular_quad_pid/Debug/src/commands.o and b/modular_quad_pid/Debug/src/commands.o differ
diff --git a/modular_quad_pid/Debug/src/communication.d b/modular_quad_pid/Debug/src/communication.d
index 0e9974032f6984327c0aa0c33fb43b735e3c1d39..a07363c550202f8e04feec1189d5def938b5b3de 100644
--- a/modular_quad_pid/Debug/src/communication.d
+++ b/modular_quad_pid/Debug/src/communication.d
@@ -1,8 +1,52 @@
 src/communication.d: ../src/communication.c ../src/communication.h \
- ../src/commands.h ../src/type_def.h
+ ../src/commands.h ../src/type_def.h ../src/uart.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xparameters.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xparameters_ps.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xuartps.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_types.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_assert.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xstatus.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xuartps_hw.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_io.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xpseudo_asm.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xreg_cortexa9.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xpseudo_asm_gcc.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xil_printf.h \
+ ../../system_bsp/ps7_cortexa9_0/include/xparameters.h \
+ ../src/stringBuilder.h
 
 ../src/communication.h:
 
 ../src/commands.h:
 
 ../src/type_def.h:
+
+../src/uart.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xparameters.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xparameters_ps.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xuartps.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_types.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_assert.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xstatus.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xuartps_hw.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_io.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xpseudo_asm.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xreg_cortexa9.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xpseudo_asm_gcc.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xil_printf.h:
+
+../../system_bsp/ps7_cortexa9_0/include/xparameters.h:
+
+../src/stringBuilder.h:
diff --git a/modular_quad_pid/Debug/src/communication.o b/modular_quad_pid/Debug/src/communication.o
index e256b205895576590ff18f31f248ee70d575fff8..f42120c8b4e1caae359b37033bb8ebb65cae85fd 100644
Binary files a/modular_quad_pid/Debug/src/communication.o and b/modular_quad_pid/Debug/src/communication.o differ
diff --git a/modular_quad_pid/src/commands.c b/modular_quad_pid/src/commands.c
index 66984d05a090f89e7ca79d7a3cb43103b857af83..97ed7720ab204d00bc88509f31204497ed5e7aed 100644
--- a/modular_quad_pid/src/commands.c
+++ b/modular_quad_pid/src/commands.c
@@ -22,6 +22,18 @@ struct MessageType MessageTypes[MAX_TYPE] =
 				stringType,
 				// Function pointer
 				&debug
+			},
+
+			// Echo subtype
+			{
+				// ID
+				0x01,
+				// Command text
+				"ack",
+				// Type of the command data
+				intType,
+				// Function pointer
+				NULL
 			}
 		}
 	},
@@ -388,6 +400,8 @@ int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
 // ------------------------------------------------------------------
 // Quad side implementation
 
+// TODO: Erase memory leaks
+
 int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs)
 {
 	float value;
diff --git a/modular_quad_pid/src/communication.c b/modular_quad_pid/src/communication.c
index 186ec6d6f75660248081840a261a86627d5e33de..b0e9e36ea049686bc37c7b8318fa640b1c1ef88f 100644
--- a/modular_quad_pid/src/communication.c
+++ b/modular_quad_pid/src/communication.c
@@ -113,6 +113,33 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 	if(packet_checksum != calculated_checksum)
 		printf("Checksums did not match (Quadlog): 0x%02x\t0x%02x\n", packet_checksum, calculated_checksum);
 
+	//////////////////////////////
+	// Send an acknowledgment packet
+
+	// Send a reply to the ground station
+
+	int buf = meta_data->msg_id;
+	unsigned char *responsePacket;
+
+	metadata_t metadata =
+	{
+		BEGIN_CHAR,
+		MessageTypes[0].ID,
+		MessageTypes[0].subtypes[1].ID,
+		0,
+		sizeof(int)
+	};
+	formatPacket(&metadata, &buf, &responsePacket);
+
+	// Send each byte of the packet individually
+	for(i = 0; i < 8 + metadata.data_len; i++) {
+		// Debug print statement for all of the bytes being sent
+		//printf("%d: 0x%x\n", i, responsePacket[i]);
+
+		uart0_sendByte(responsePacket[i]);
+	}
+	free(responsePacket);
+
 	return 0;
 }
 
diff --git a/modular_quad_pid/src/communication.h b/modular_quad_pid/src/communication.h
index f7daae4923f97c83fe1dc914265c1bf25fc5595d..8778c4edfb3f990b94ab63877dd4a1e10886cd01 100644
--- a/modular_quad_pid/src/communication.h
+++ b/modular_quad_pid/src/communication.h
@@ -7,6 +7,7 @@
 #include <limits.h>
 #include "commands.h"
 #include "type_def.h"
+#include "uart.h"
 
 int formatCommand(unsigned char *command, unsigned char **formattedCommand);
 int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);