diff --git a/Documentation/flight_mode_state_machine.odg b/Documentation/flight_mode_state_machine.odg
index b630ecb40242a9a52a796c30ff0dbc283a4de7e7..f9fa7a032343b3b74e3b795504a34539e442e065 100644
Binary files a/Documentation/flight_mode_state_machine.odg and b/Documentation/flight_mode_state_machine.odg differ
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 74be1cd23f7baddb24c0871665317880c355b50e..3f88b8c8c9b22d5428a2797ef9b5598859f9f77e 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -39,6 +39,7 @@ MODULES += modules/sensors
# System commands
#
MODULES += systemcmds/eeprom
+MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c
diff --git a/src/systemcmds/ramtron/module.mk b/src/systemcmds/ramtron/module.mk
new file mode 100644
index 0000000000000000000000000000000000000000..e4eb1d143cb9d1c64639e7b1b4d63e47e64ab049
--- /dev/null
+++ b/src/systemcmds/ramtron/module.mk
@@ -0,0 +1,6 @@
+#
+# RAMTRON file system driver
+#
+
+MODULE_COMMAND = ramtron
+SRCS = ramtron.c
diff --git a/src/systemcmds/ramtron/ramtron.c b/src/systemcmds/ramtron/ramtron.c
new file mode 100644
index 0000000000000000000000000000000000000000..03c713987a552591d3a213bed73d751fac11a974
--- /dev/null
+++ b/src/systemcmds/ramtron/ramtron.c
@@ -0,0 +1,279 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ * Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ramtron.c
+ *
+ * ramtron service and utility app.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/spi.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int ramtron_main(int argc, char *argv[]);
+
+#ifndef CONFIG_MTD_RAMTRON
+
+/* create a fake command with decent message to not confuse users */
+int ramtron_main(int argc, char *argv[])
+{
+ errx(1, "RAMTRON not enabled, skipping.");
+}
+#else
+
+static void ramtron_attach(void);
+static void ramtron_start(void);
+static void ramtron_erase(void);
+static void ramtron_ioctl(unsigned operation);
+static void ramtron_save(const char *name);
+static void ramtron_load(const char *name);
+static void ramtron_test(void);
+
+static bool attached = false;
+static bool started = false;
+static struct mtd_dev_s *ramtron_mtd;
+
+int ramtron_main(int argc, char *argv[])
+{
+ if (argc >= 2) {
+ if (!strcmp(argv[1], "start"))
+ ramtron_start();
+
+ if (!strcmp(argv[1], "save_param"))
+ ramtron_save(argv[2]);
+
+ if (!strcmp(argv[1], "load_param"))
+ ramtron_load(argv[2]);
+
+ if (!strcmp(argv[1], "erase"))
+ ramtron_erase();
+
+ if (!strcmp(argv[1], "test"))
+ ramtron_test();
+
+ if (0) { /* these actually require a file on the filesystem... */
+
+ if (!strcmp(argv[1], "reformat"))
+ ramtron_ioctl(FIOC_REFORMAT);
+
+ if (!strcmp(argv[1], "repack"))
+ ramtron_ioctl(FIOC_OPTIMIZE);
+ }
+ }
+
+ errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
+}
+
+struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+
+
+static void
+ramtron_attach(void)
+{
+ /* find the right spi */
+ struct spi_dev_s *spi = up_spiinitialize(2);
+ /* this resets the spi bus, set correct bus speed again */
+ // xxx set in ramtron driver, leave this out
+// SPI_SETFREQUENCY(spi, 4000000);
+ SPI_SETFREQUENCY(spi, 375000000);
+ SPI_SETBITS(spi, 8);
+ SPI_SETMODE(spi, SPIDEV_MODE3);
+ SPI_SELECT(spi, SPIDEV_FLASH, false);
+
+ if (spi == NULL)
+ errx(1, "failed to locate spi bus");
+
+ /* start the MTD driver, attempt 5 times */
+ for (int i = 0; i < 5; i++) {
+ ramtron_mtd = ramtron_initialize(spi);
+ if (ramtron_mtd) {
+ /* abort on first valid result */
+ if (i > 0) {
+ warnx("warning: ramtron needed %d attempts to attach", i+1);
+ }
+ break;
+ }
+ }
+
+ /* if last attempt is still unsuccessful, abort */
+ if (ramtron_mtd == NULL)
+ errx(1, "failed to initialize ramtron driver");
+
+ attached = true;
+}
+
+static void
+ramtron_start(void)
+{
+ int ret;
+
+ if (started)
+ errx(1, "ramtron already mounted");
+
+ if (!attached)
+ ramtron_attach();
+
+ /* start NXFFS */
+ ret = nxffs_initialize(ramtron_mtd);
+
+ if (ret < 0)
+ errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
+
+ /* mount the ramtron */
+ ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
+
+ if (ret < 0)
+ errx(1, "failed to mount /ramtron - erase ramtron to reformat");
+
+ started = true;
+ warnx("mounted ramtron at /ramtron");
+ exit(0);
+}
+
+//extern int at24c_nuke(void);
+
+static void
+ramtron_erase(void)
+{
+ if (!attached)
+ ramtron_attach();
+
+// if (at24c_nuke())
+ errx(1, "erase failed");
+
+ errx(0, "erase done, reboot now");
+}
+
+static void
+ramtron_ioctl(unsigned operation)
+{
+ int fd;
+
+ fd = open("/ramtron/.", 0);
+
+ if (fd < 0)
+ err(1, "open /ramtron");
+
+ if (ioctl(fd, operation, 0) < 0)
+ err(1, "ioctl");
+
+ exit(0);
+}
+
+static void
+ramtron_save(const char *name)
+{
+ if (!started)
+ errx(1, "must be started first");
+
+ if (!name)
+ err(1, "missing argument for device name, try '/ramtron/parameters'");
+
+ warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
+
+ /* delete the file in case it exists */
+ unlink(name);
+
+ /* create the file */
+ int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
+
+ if (fd < 0)
+ err(1, "opening '%s' failed", name);
+
+ int result = param_export(fd, false);
+ close(fd);
+
+ if (result < 0) {
+ unlink(name);
+ errx(1, "error exporting to '%s'", name);
+ }
+
+ exit(0);
+}
+
+static void
+ramtron_load(const char *name)
+{
+ if (!started)
+ errx(1, "must be started first");
+
+ if (!name)
+ err(1, "missing argument for device name, try '/ramtron/parameters'");
+
+ warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
+
+ int fd = open(name, O_RDONLY);
+
+ if (fd < 0)
+ err(1, "open '%s'", name);
+
+ int result = param_load(fd);
+ close(fd);
+
+ if (result < 0)
+ errx(1, "error importing from '%s'", name);
+
+ exit(0);
+}
+
+//extern void at24c_test(void);
+
+static void
+ramtron_test(void)
+{
+// at24c_test();
+ exit(0);
+}
+
+#endif