Change priority of gpsd and add multitech GPS device to default.

31 files changed, 1073 insertions, 21 deletions

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index ba2186a..e07d2a9 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -8,6 +8,7 @@ before_script:
   - (test -f env-oe.sh && ./setup.sh --update) || ./setup.sh
   - source env-oe.sh
   - cd layers/meta-mlinux
+  - git fetch
   - git checkout $CI_BUILD_REF
   - cd ../..
 
diff --git a/classes/mlinux-mirrors.bbclass b/classes/mlinux-mirrors.bbclass
index 17bd692..7f80d46 100644
--- a/classes/mlinux-mirrors.bbclass
+++ b/classes/mlinux-mirrors.bbclass
@@ -13,3 +13,5 @@ MIRRORS_append () {
 ftp://.*/.*	http://multitech.net/mlinux/sources/
 https?$://.*/.*	http://multitech.net/mlinux/sources/
 }
+
+SAVANNAH_GNU_MIRROR = "http://download-mirror.savannah.gnu.org/releases"
diff --git a/conf/distro/mlinux.conf b/conf/distro/mlinux.conf
index b4bc9a3..9a8011d 100644
--- a/conf/distro/mlinux.conf
+++ b/conf/distro/mlinux.conf
@@ -1,7 +1,7 @@
 DISTRO = "mlinux"
 DISTRO_NAME = "mLinux"
 DISTRO_BASE_VERSION = "3.2"
-DISTRO_VERSION = "${DISTRO_BASE_VERSION}.3"
+DISTRO_VERSION = "${DISTRO_BASE_VERSION}.4"
 DISTRO_CODENAME = ""
 SDK_VENDOR = "-mlinux"
 SDK_VERSION := "${@'${DISTRO_VERSION}'.replace('snapshot-${DATE}','snapshot')}"
@@ -74,3 +74,5 @@ require java.inc
 
 PREFERRED_VERSION_nodejs ?= "0.10.44"
 PREFERRED_VERSION_nodejs-native ?= "0.10.44"
+
+PREFERRED_VERSION_gpsd ?= "3.16"
diff --git a/recipes-connectivity/lora/lora-gateway-usb_1.7.0mts.bb b/recipes-connectivity/lora/lora-gateway-usb_1.7.0mts.bb
index 64ad81f..382328d 100644
--- a/recipes-connectivity/lora/lora-gateway-usb_1.7.0mts.bb
+++ b/recipes-connectivity/lora/lora-gateway-usb_1.7.0mts.bb
@@ -31,11 +31,11 @@ do_compile() {
 }
 
 do_install() {
-	install -d ${D}${includedir}/lora
-	install -d ${D}${libdir}/lora
-	install -m 0644 libloragw/libloragw.a ${D}${libdir}/lora
-	install -m 0644 libloragw/library.cfg ${D}${libdir}/lora
-	install -m 0644 libloragw/inc/* ${D}${includedir}/lora
+	install -d ${D}${includedir}/lora-usb
+	install -d ${D}${libdir}/lora-usb
+	install -m 0644 libloragw/libloragw.a ${D}${libdir}/lora-usb
+	install -m 0644 libloragw/library.cfg ${D}${libdir}/lora-usb
+	install -m 0644 libloragw/inc/* ${D}${includedir}/lora-usb
 
 	install -d ${D}/opt/lora
 	install -d ${D}/opt/lora/gateway-utils-usb
@@ -49,8 +49,8 @@ PACKAGES += "${PN}-utils ${PN}-utils-dbg"
 
 FILES_${PN}-utils = "/opt/lora/gateway-utils-usb/*"
 FILES_${PN}-utils-dbg = "/opt/lora/.debug"
-FILES_${PN}-dev = "${includedir}/lora ${libdir}/lora/library.cfg"
-FILES_${PN}-staticdev = "${libdir}/lora/libloragw.a"
+FILES_${PN}-dev = "${includedir}/lora-usb ${libdir}/lora-usb/library.cfg"
+FILES_${PN}-staticdev = "${libdir}/lora-usb/libloragw.a"
 
 # disable this on purpose for dev purposes
 do_rm_work() {
diff --git a/recipes-connectivity/lora/lora-network-server_1.0.17.bb b/recipes-connectivity/lora/lora-network-server_1.0.18.bb
index 83e8f31..1a7aab6 100644
--- a/recipes-connectivity/lora/lora-network-server_1.0.17.bb
+++ b/recipes-connectivity/lora/lora-network-server_1.0.18.bb
@@ -13,8 +13,8 @@ SRC_URI = "http://multitech.net/downloads/lora-network-server_${TUNE_PKGARCH}_${
            file://lora-network-server.logrotate.conf \
           "
 
-SRC_URI[md5sum] = "4c88bdf1f213f2e37eb12eb9efcb96b0"
-SRC_URI[sha256sum] = "84b20fa48fa70d58e147fa079a5986d498ec78ad076b99b4b3a7dcc4f6a70a8e"
+SRC_URI[md5sum] = "9e83c88149fc9b9c969034edcc6371f8"
+SRC_URI[sha256sum] = "1e94620eed249c0c431987ac64850e329f7506ddd2d3c2ff6de0a554cb76ed52"
 
 # binaries are already stripped, so suppress warning
 INSANE_SKIP_${PN} = "already-stripped"
diff --git a/recipes-connectivity/lora/lora-packet-forwarder-usb_1.4.1.bb b/recipes-connectivity/lora/lora-packet-forwarder-usb_1.4.1.bb
index 541247b..7ca1ffb 100644
--- a/recipes-connectivity/lora/lora-packet-forwarder-usb_1.4.1.bb
+++ b/recipes-connectivity/lora/lora-packet-forwarder-usb_1.4.1.bb
@@ -26,8 +26,8 @@ S = "${WORKDIR}/git"
 
 LORA_DIR = "/opt/lora"
 
-export LGW_PATH = "${STAGING_LIBDIR}/lora"
-export LGW_INC = "${STAGING_INCDIR}/lora"
+export LGW_PATH = "${STAGING_LIBDIR}/lora-usb"
+export LGW_INC = "${STAGING_INCDIR}/lora-usb"
 
 CFLAGS += "-I${LGW_INC} -Iinc -I."
 
diff --git a/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder.default b/recipes-connectivity/lora/lora-packet-forwarder/mtcap/lora-packet-forwarder.default
index be7dcd5..be7dcd5 100644
--- a/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder.default
+++ b/recipes-connectivity/lora/lora-packet-forwarder/mtcap/lora-packet-forwarder.default
diff --git a/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder.init b/recipes-connectivity/lora/lora-packet-forwarder/mtcap/lora-packet-forwarder.init
index 9ffaf6d..9ffaf6d 100755
--- a/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder.init
+++ b/recipes-connectivity/lora/lora-packet-forwarder/mtcap/lora-packet-forwarder.init
diff --git a/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.default b/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.default
new file mode 100644
index 0000000..0f92640
--- /dev/null
+++ b/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.default
@@ -0,0 +1,2 @@
+# set to "yes" or "no" to control starting on boot
+ENABLED="no"
diff --git a/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.init b/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.init
new file mode 100755
index 0000000..510f171
--- /dev/null
+++ b/recipes-connectivity/lora/lora-packet-forwarder/mtcdt/lora-packet-forwarder.init
@@ -0,0 +1,115 @@
+#!/bin/bash
+
+
+NAME="lora-packet-forwarder"
+ENABLED="yes"
+
+
+[ -f /etc/default/$NAME ] && source /etc/default/$NAME
+
+run_dir=/var/run/lora
+conf_dir=/var/config/lora
+
+pkt_fwd=$run_dir/1/lora_pkt_fwd
+pkt_fwd_log=/var/log/lora-pkt-fwd-1.log
+pkt_fwd_pidfile=$run_dir/lora-pkt-fwd-1.pid
+
+
+port1=/sys/devices/platform/mts-io/ap1
+port2=/sys/devices/platform/mts-io/ap2
+
+
+lora_mtac_id="MTAC-LORA"
+lora_1_0_hw="MTAC-LORA-1.0"
+lora_1_5_h_hw="MTAC-LORA-1.5"
+
+
+read_card_info() {
+    # product-id of first lora card
+    lora_id=$(mts-io-sysfs show lora/product-id 2> /dev/null)
+    lora_eui=$(mts-io-sysfs show lora/eui 2> /dev/null)
+    # remove all colons
+    lora_eui_raw=${lora_eui//:/}
+    lora_hw=$(mts-io-sysfs show lora/hw-version 2> /dev/null)
+}
+
+
+card_found() {
+    if [ -d $port1 ] && [[ $(cat $port1/hw-version) = $lora_hw ]]; then
+        ln -sf /dev/spidev32766.2 /dev/spidev0.0
+    elif [ -d $port2 ] && [[ $(cat $port2/hw-version) = $lora_hw ]]; then
+        ln -sf /dev/spidev32765.2 /dev/spidev0.0
+    fi
+    
+    if [[ "$lora_id" =~ "$lora_mtac_id" ]]; then
+        return 0
+    else
+        return 1
+    fi
+}
+
+
+do_start() {
+
+    mkdir -p $run_dir/1
+    read_card_info
+
+    if ! [ -f $conf_file ]; then
+        echo "$0: $conf_file missing"
+        exit 1
+    fi
+
+
+    if card_found; then
+        echo "Found $lora_id with $lora_hw hardware"
+    else
+        echo "$0: MTAC-LORA not detected"
+        exit 1
+    fi
+    echo -n "Starting $NAME: "
+    # start packet forwarder
+    cp $conf_dir/global_conf.json $run_dir/1/global_conf.json
+    /usr/sbin/start-stop-daemon --chdir $run_dir/1 --background --start --make-pidfile \
+        --pidfile $pkt_fwd_pidfile --startas /bin/bash -- -c "exec $pkt_fwd"
+
+    renice -n -20 -p $(pgrep $(basename $pkt_fwd))
+
+
+    echo "OK"
+}
+
+
+do_stop() {
+    echo -n "Stopping $NAME: "
+    start-stop-daemon --stop --quiet --oknodo --pidfile $pkt_fwd_pidfile --retry 5
+    rm -f $pkt_fwd_pidfile
+    echo "OK"
+}
+
+
+if [ "$ENABLED" != "yes" ]; then
+    echo "$NAME: disabled in /etc/default"
+    exit
+fi
+
+
+case "$1" in
+    "start")
+    do_start
+        ;;
+    "stop")
+    do_stop
+        ;;
+    "restart")
+    ## Stop the service and regardless of whether it was
+        ## running or not, start it again.
+        do_stop
+        do_start
+        ;;
+    *)
+        ## If no parameters are given, print which are avaiable.
+        echo "Usage: $0 {start|stop|restart}"
+        exit 1
+    ;;
+esac
+
diff --git a/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb b/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
index 85fb8e3..ada0493 100644
--- a/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
+++ b/recipes-connectivity/lora/lora-packet-forwarder_3.0.0.bb
@@ -6,7 +6,7 @@ SECTION = "console/utils"
 LICENSE = "SEMTECH"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=22af7693d7b76ef0fc76161c4be76c45"
 DEPENDS = "lora-gateway"
-PR = "r7"
+PR = "r9"
 
 SRCREV = "v${PV}"
 
@@ -23,6 +23,7 @@ SRC_URI = "git://github.com/Lora-net/packet_forwarder.git;protocol=git \
            file://lora-packet-forwarder-remove-jit-power-check.patch \
 "
 
+
 S = "${WORKDIR}/git"
 
 LORA_DIR = "/opt/lora"
@@ -52,6 +53,11 @@ do_install_append_mtcdt() {
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_5.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_0.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json.MTAC_LORA_1_0
   install -m 755 ${WORKDIR}/global_conf.json.3.0.0.MTAC_LORA_1_5.EU868.basic.clksrc0 ${D}${LORA_DIR}/global_conf.json.MTAC_LORA_1_5
+
+  install -d ${D}${sysconfdir}/default
+  install -m 0644 ${WORKDIR}/lora-packet-forwarder.default ${D}${sysconfdir}/default/lora-packet-forwarder
+  install -d ${D}${sysconfdir}/init.d
+  install -m 0755 ${WORKDIR}/lora-packet-forwarder.init ${D}${sysconfdir}/init.d/lora-packet-forwarder
 }
 
 do_install_append_mtcap() {
diff --git a/recipes-core/busybox/busybox-1.22.1/defconfig b/recipes-core/busybox/busybox-1.22.1/defconfig
index 0387a9d..aa1e514 100644
--- a/recipes-core/busybox/busybox-1.22.1/defconfig
+++ b/recipes-core/busybox/busybox-1.22.1/defconfig
@@ -570,8 +570,8 @@ CONFIG_HEXDUMP=y
 CONFIG_HWCLOCK=y
 CONFIG_FEATURE_HWCLOCK_LONG_OPTIONS=y
 CONFIG_FEATURE_HWCLOCK_ADJTIME_FHS=y
-# CONFIG_IPCRM is not set
-# CONFIG_IPCS is not set
+CONFIG_IPCRM=y
+CONFIG_IPCS=y
 CONFIG_LOSETUP=y
 # CONFIG_LSPCI is not set
 # CONFIG_LSUSB is not set
diff --git a/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.old.patch b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.old.patch
new file mode 100644
index 0000000..2ea3226
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.old.patch
@@ -0,0 +1,75 @@
+From 1e2cea8945bc2183fbe1a012dcd633a352125952 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 24 Apr 2012 18:45:14 +0200
+Subject: [PATCH] SConstruct: prefix includepy with sysroot and drop sysroot
+ from python_lib_dir
+
+* without PYTHONPATH, distutil's sysconfig returns INCLUDEPY without sysroot prefix
+  and with PYTHONPATH from OE it's pointing to native python dir
+
+    $ export PYTHONPATH=/OE/shr-core/tmp-eglibc/sysroots/om-gta02/usr/lib/python2.7/
+    $ python
+    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
+    [GCC 4.6.2] on linux2
+    Type "help", "copyright", "credits" or "license" for more information.
+    >>> from distutils import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
+    >>>
+    $ unset PYTHONPATH
+    $ python
+    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
+    [GCC 4.6.2] on linux2
+    Type "help", "copyright", "credits" or "license" for more information.
+    >>> from distutils import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/python2.7']
+    >>> import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
+* python_lib_dir = python_lib_dir.replace(env['sysroot'], '')
+  returns path to target sysroot
+
+Upstream-Status: Inappropriate [embedded specific]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/SConstruct b/SConstruct
+index 6c93311..cde8b3d 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -1148,6 +1148,12 @@ else:
+         basecflags += ' -coverage'
+         ldflags += ' -coverage'
+         ldshared += ' -coverage'
++
++    if env['sysroot']:
++        print "Prefixing includepy '%s' with sysroot prefix" % includepy
++        includepy = os.path.normpath("%s/%s/%s/%s" % (env['sysroot'], env['prefix'], env['includedir'], includepy))
++        print "'%s'" % includepy
++
+     # in case CC/CXX was set to the scan-build wrapper,
+     # ensure that we build the python modules with scan-build, too
+     if env['CC'] is None or env['CC'].find('scan-build') < 0:
+@@ -1408,11 +1414,14 @@ if not env['python']:
+     python_install = []
+ else:
+     python_lib_dir = env['python_libdir']
++    python_lib_dir = python_lib_dir.replace(env['sysroot'], '')
+     python_module_dir = python_lib_dir + os.sep + 'gps'
+     python_extensions_install = python_env.Install( DESTDIR + python_module_dir,
+                                                     python_built_extensions)
+     if not env['debug'] and not env['profiling'] and not env['nostrip'] and not sys.platform.startswith('darwin'):
+         python_env.AddPostAction(python_extensions_install, '$STRIP $TARGET')
++    env.AddPostAction(python_extensions_install, '$CHRPATH -r "%s" "$TARGET"' \
++                     % (python_lib_dir, ))
+ 
+     python_modules_install = python_env.Install( DESTDIR + python_module_dir,
+                                                 python_modules)
+-- 
+2.1.0
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
new file mode 100644
index 0000000..d1eb2ad
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
@@ -0,0 +1,13 @@
+--- /home/jklug/3.17/old/SConstruct	2016-12-19 14:53:02.406689189 -0600
++++ ./SConstruct	2016-12-19 17:27:27.594669617 -0600
+@@ -1341,6 +1341,10 @@
+         python_config['BASECFLAGS'] += ' -coverage'
+         python_config['LDFLAGS'] += ' -coverage'
+         python_config['LDSHARED'] += ' -coverage'
++    if env['sysroot']:
++        print "Prefixing includepy '%s' with sysroot prefix" % python_config['INCLUDEPY']
++        python_config['INCLUDEPY'] = os.path.normpath("%s/%s/%s/%s" % (env['sysroot'], env['prefix'], env['includedir'], python_config['INCLUDEPY']))
++        print "Python Include: '%s'" % python_config['INCLUDEPY']
+     # in case CC/CXX was set to the scan-build wrapper,
+     # ensure that we build the python modules with scan-build, too
+     if env['CC'] is None or env['CC'].find('scan-build') < 0:
diff --git a/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-include-sys-ttydefaults.h.patch b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-include-sys-ttydefaults.h.patch
new file mode 100644
index 0000000..b27c671
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16.20161219/0001-include-sys-ttydefaults.h.patch
@@ -0,0 +1,34 @@
+From 543f79222520cc6ab65d20f9fa356dac5c848e3b Mon Sep 17 00:00:00 2001
+From: Khem Raj <raj.khem@gmail.com>
+Date: Wed, 17 Aug 2016 02:16:12 +0000
+Subject: [PATCH] include sys/ttydefaults.h
+
+This is needed for CTRL definition, as exposed by musl on glibc
+this include file gets pulled indirectly.
+
+/usr/src/debug/gpsd/3.14-r0/gpsd-3.14/gpsmon.c:605: undefined reference to `CTRL'
+clang-3.9: error: linker command failed with exit code 1 (use -v to see invocation)
+scons: *** [gpsmon] Error 1
+
+Signed-off-by: Khem Raj <raj.khem@gmail.com>
+---
+Upstream-Status: Pending
+
+ gpsmon.c | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/gpsmon.c b/gpsmon.c
+index bee05b8..daed818 100644
+--- a/gpsmon.c
++++ b/gpsmon.c
+@@ -20,6 +20,7 @@
+ #include <sys/types.h>
+ #include <sys/stat.h>
+ #include <sys/select.h>
++#include <sys/ttydefaults.h>
+ #include <fcntl.h>
+ #ifndef S_SPLINT_S
+ #include <unistd.h>
+-- 
+1.8.3.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16.20161219/0002-SConstruct-remove-rpath.patch b/recipes-navigation/gpsd/gpsd-3.16.20161219/0002-SConstruct-remove-rpath.patch
new file mode 100644
index 0000000..083a662
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16.20161219/0002-SConstruct-remove-rpath.patch
@@ -0,0 +1,45 @@
+From d090638ff983e509162d5e3b62aa4918de4aa5fa Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 24 Apr 2012 16:24:35 +0200
+Subject: [PATCH 2/4] SConstruct: remove rpath
+
+* even with correct prefix (without DESTDIR) included it's redundant
+  WARNING: QA Issue: libgps:
+  /work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/packages-split/libgps/usr/lib/libgps.so.20.0
+  contains probably-redundant RPATH /usr/lib
+* and with prefix from scons.bbclass it's invalid
+  WARNING: QA Issue: package libgps contains bad RPATH
+  /OE/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/image/usr/lib
+  in file
+  /OE/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/packages-split/libgps/usr/lib/libgps.so.20.0
+
+Upstream-Status: Inapppropriate [embedded specific]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Denis 'GNUtoo' Carikli <GNUtoo@no-log.org>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 7 +++++--
+ 1 file changed, 5 insertions(+), 2 deletions(-)
+
+diff --git a/SConstruct b/SConstruct
+index f0cafa8..ff46713 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -1340,8 +1340,11 @@ if qt_env:
+     binaryinstall.append(LibraryInstall(qt_env, installdir('libdir'), compiled_qgpsmmlib))
+ 
+ if env["shared"] and env["chrpath"]:
+-    env.AddPostAction(binaryinstall, '$CHRPATH -r "%s" "$TARGET"' \
+-                      % (installdir('libdir', False), ))
++    if not env['sysroot']:
++        env.AddPostAction(binaryinstall, '$CHRPATH -r "%s" "$TARGET"' \
++                          % (installdir('libdir', False), ))
++    else:
++        env.AddPostAction(binaryinstall, '$CHRPATH -d "$TARGET"')
+ 
+ if not env['debug'] and not env['profiling'] and env['strip']:
+     env.AddPostAction(binaryinstall, '$STRIP $TARGET')
+-- 
+1.8.5.5
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16.20161219/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch b/recipes-navigation/gpsd/gpsd-3.16.20161219/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
new file mode 100644
index 0000000..8527f0d
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16.20161219/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
@@ -0,0 +1,52 @@
+From 697e2e9ff97487266d817cdd41bacc83f681e3d7 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Sun, 29 Apr 2012 00:05:59 +0200
+Subject: [PATCH 4/4] SConstruct: disable html and man docs building because
+ xmlto-native from OE is broken
+
+It will try to load dtd and fail:
+| xmlto man gpsctl.xml; mv `basename gpsctl.1` gpsctl.1
+| xmlto: /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml does not validate (status 3)
+| xmlto: Fix document syntax or use --skip-validation option
+| I/O error : Attempt to load network entity http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd
+| /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml:8: warning: failed to load external entity "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+|    "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd">
+|                                                               ^
+| I/O error : Attempt to load network entity http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd
+| warning: failed to load external entity "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+| validity error : Could not load the external subset "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+| Document /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml does not validate
+| mv: cannot stat `gpsctl.1': No such file or directory
+| scons: *** [gpsctl.1] Error 1
+| scons: building terminated because of errors.
+
+Upstream-Status: Inappropriate [disable feature]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/SConstruct b/SConstruct
+index 0e518e7..c01a71b 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -704,12 +704,12 @@ size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
+ 
+     manbuilder = mangenerator = htmlbuilder = None
+     if env['manbuild']:
+-        if config.CheckXsltproc():
++        if False and config.CheckXsltproc():
+             mangenerator = 'xsltproc'
+             build = "xsltproc --nonet %s $SOURCE >$TARGET"
+             htmlbuilder = build % docbook_html_uri
+             manbuilder = build % docbook_man_uri
+-        elif WhereIs("xmlto"):
++        elif False and WhereIs("xmlto"):
+             mangenerator = 'xmlto'
+             xmlto = "xmlto %s $SOURCE || mv `basename $TARGET` `dirname $TARGET`"
+             htmlbuilder = xmlto % "html-nochunks"
+-- 
+1.8.5.5
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch b/recipes-navigation/gpsd/gpsd-3.16/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
new file mode 100644
index 0000000..2ea3226
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
@@ -0,0 +1,75 @@
+From 1e2cea8945bc2183fbe1a012dcd633a352125952 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 24 Apr 2012 18:45:14 +0200
+Subject: [PATCH] SConstruct: prefix includepy with sysroot and drop sysroot
+ from python_lib_dir
+
+* without PYTHONPATH, distutil's sysconfig returns INCLUDEPY without sysroot prefix
+  and with PYTHONPATH from OE it's pointing to native python dir
+
+    $ export PYTHONPATH=/OE/shr-core/tmp-eglibc/sysroots/om-gta02/usr/lib/python2.7/
+    $ python
+    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
+    [GCC 4.6.2] on linux2
+    Type "help", "copyright", "credits" or "license" for more information.
+    >>> from distutils import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
+    >>>
+    $ unset PYTHONPATH
+    $ python
+    Python 2.7.2 (default, Apr 18 2012, 09:19:59)
+    [GCC 4.6.2] on linux2
+    Type "help", "copyright", "credits" or "license" for more information.
+    >>> from distutils import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/python2.7']
+    >>> import sysconfig
+    >>> sysconfig.get_config_vars('INCLUDEPY')
+    ['/OE/shr-core/tmp-eglibc/sysroots/x86_64-linux/usr/include/python2.7']
+* python_lib_dir = python_lib_dir.replace(env['sysroot'], '')
+  returns path to target sysroot
+
+Upstream-Status: Inappropriate [embedded specific]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/SConstruct b/SConstruct
+index 6c93311..cde8b3d 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -1148,6 +1148,12 @@ else:
+         basecflags += ' -coverage'
+         ldflags += ' -coverage'
+         ldshared += ' -coverage'
++
++    if env['sysroot']:
++        print "Prefixing includepy '%s' with sysroot prefix" % includepy
++        includepy = os.path.normpath("%s/%s/%s/%s" % (env['sysroot'], env['prefix'], env['includedir'], includepy))
++        print "'%s'" % includepy
++
+     # in case CC/CXX was set to the scan-build wrapper,
+     # ensure that we build the python modules with scan-build, too
+     if env['CC'] is None or env['CC'].find('scan-build') < 0:
+@@ -1408,11 +1414,14 @@ if not env['python']:
+     python_install = []
+ else:
+     python_lib_dir = env['python_libdir']
++    python_lib_dir = python_lib_dir.replace(env['sysroot'], '')
+     python_module_dir = python_lib_dir + os.sep + 'gps'
+     python_extensions_install = python_env.Install( DESTDIR + python_module_dir,
+                                                     python_built_extensions)
+     if not env['debug'] and not env['profiling'] and not env['nostrip'] and not sys.platform.startswith('darwin'):
+         python_env.AddPostAction(python_extensions_install, '$STRIP $TARGET')
++    env.AddPostAction(python_extensions_install, '$CHRPATH -r "%s" "$TARGET"' \
++                     % (python_lib_dir, ))
+ 
+     python_modules_install = python_env.Install( DESTDIR + python_module_dir,
+                                                 python_modules)
+-- 
+2.1.0
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0001-include-sys-ttydefaults.h.patch b/recipes-navigation/gpsd/gpsd-3.16/0001-include-sys-ttydefaults.h.patch
new file mode 100644
index 0000000..b27c671
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0001-include-sys-ttydefaults.h.patch
@@ -0,0 +1,34 @@
+From 543f79222520cc6ab65d20f9fa356dac5c848e3b Mon Sep 17 00:00:00 2001
+From: Khem Raj <raj.khem@gmail.com>
+Date: Wed, 17 Aug 2016 02:16:12 +0000
+Subject: [PATCH] include sys/ttydefaults.h
+
+This is needed for CTRL definition, as exposed by musl on glibc
+this include file gets pulled indirectly.
+
+/usr/src/debug/gpsd/3.14-r0/gpsd-3.14/gpsmon.c:605: undefined reference to `CTRL'
+clang-3.9: error: linker command failed with exit code 1 (use -v to see invocation)
+scons: *** [gpsmon] Error 1
+
+Signed-off-by: Khem Raj <raj.khem@gmail.com>
+---
+Upstream-Status: Pending
+
+ gpsmon.c | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/gpsmon.c b/gpsmon.c
+index bee05b8..daed818 100644
+--- a/gpsmon.c
++++ b/gpsmon.c
+@@ -20,6 +20,7 @@
+ #include <sys/types.h>
+ #include <sys/stat.h>
+ #include <sys/select.h>
++#include <sys/ttydefaults.h>
+ #include <fcntl.h>
+ #ifndef S_SPLINT_S
+ #include <unistd.h>
+-- 
+1.8.3.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0002-SConstruct-remove-rpath.patch b/recipes-navigation/gpsd/gpsd-3.16/0002-SConstruct-remove-rpath.patch
new file mode 100644
index 0000000..083a662
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0002-SConstruct-remove-rpath.patch
@@ -0,0 +1,45 @@
+From d090638ff983e509162d5e3b62aa4918de4aa5fa Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 24 Apr 2012 16:24:35 +0200
+Subject: [PATCH 2/4] SConstruct: remove rpath
+
+* even with correct prefix (without DESTDIR) included it's redundant
+  WARNING: QA Issue: libgps:
+  /work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/packages-split/libgps/usr/lib/libgps.so.20.0
+  contains probably-redundant RPATH /usr/lib
+* and with prefix from scons.bbclass it's invalid
+  WARNING: QA Issue: package libgps contains bad RPATH
+  /OE/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/image/usr/lib
+  in file
+  /OE/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd/gpsd-3.5-r0/packages-split/libgps/usr/lib/libgps.so.20.0
+
+Upstream-Status: Inapppropriate [embedded specific]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Denis 'GNUtoo' Carikli <GNUtoo@no-log.org>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 7 +++++--
+ 1 file changed, 5 insertions(+), 2 deletions(-)
+
+diff --git a/SConstruct b/SConstruct
+index f0cafa8..ff46713 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -1340,8 +1340,11 @@ if qt_env:
+     binaryinstall.append(LibraryInstall(qt_env, installdir('libdir'), compiled_qgpsmmlib))
+ 
+ if env["shared"] and env["chrpath"]:
+-    env.AddPostAction(binaryinstall, '$CHRPATH -r "%s" "$TARGET"' \
+-                      % (installdir('libdir', False), ))
++    if not env['sysroot']:
++        env.AddPostAction(binaryinstall, '$CHRPATH -r "%s" "$TARGET"' \
++                          % (installdir('libdir', False), ))
++    else:
++        env.AddPostAction(binaryinstall, '$CHRPATH -d "$TARGET"')
+ 
+ if not env['debug'] and not env['profiling'] and env['strip']:
+     env.AddPostAction(binaryinstall, '$STRIP $TARGET')
+-- 
+1.8.5.5
+
diff --git a/recipes-navigation/gpsd/gpsd-3.16/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch b/recipes-navigation/gpsd/gpsd-3.16/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
new file mode 100644
index 0000000..8527f0d
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
@@ -0,0 +1,52 @@
+From 697e2e9ff97487266d817cdd41bacc83f681e3d7 Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Sun, 29 Apr 2012 00:05:59 +0200
+Subject: [PATCH 4/4] SConstruct: disable html and man docs building because
+ xmlto-native from OE is broken
+
+It will try to load dtd and fail:
+| xmlto man gpsctl.xml; mv `basename gpsctl.1` gpsctl.1
+| xmlto: /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml does not validate (status 3)
+| xmlto: Fix document syntax or use --skip-validation option
+| I/O error : Attempt to load network entity http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd
+| /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml:8: warning: failed to load external entity "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+|    "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd">
+|                                                               ^
+| I/O error : Attempt to load network entity http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd
+| warning: failed to load external entity "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+| validity error : Could not load the external subset "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"
+| Document /var/lib/jenkins/jobs/shr-core-branches/workspace/shr-core/tmp-eglibc/work/armv4t-oe-linux-gnueabi/gpsd-3.4-r2/gpsd-3.4/gpsctl.xml does not validate
+| mv: cannot stat `gpsctl.1': No such file or directory
+| scons: *** [gpsctl.1] Error 1
+| scons: building terminated because of errors.
+
+Upstream-Status: Inappropriate [disable feature]
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+Signed-off-by: Peter A. Bigot <pab@pabigot.com>
+---
+ SConstruct | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/SConstruct b/SConstruct
+index 0e518e7..c01a71b 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -704,12 +704,12 @@ size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
+ 
+     manbuilder = mangenerator = htmlbuilder = None
+     if env['manbuild']:
+-        if config.CheckXsltproc():
++        if False and config.CheckXsltproc():
+             mangenerator = 'xsltproc'
+             build = "xsltproc --nonet %s $SOURCE >$TARGET"
+             htmlbuilder = build % docbook_html_uri
+             manbuilder = build % docbook_man_uri
+-        elif WhereIs("xmlto"):
++        elif False and WhereIs("xmlto"):
+             mangenerator = 'xmlto'
+             xmlto = "xmlto %s $SOURCE || mv `basename $TARGET` `dirname $TARGET`"
+             htmlbuilder = xmlto % "html-nochunks"
+-- 
+1.8.5.5
+
diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd
index ba73daf..c08be9b 100755
--- a/recipes-navigation/gpsd/gpsd/gpsd
+++ b/recipes-navigation/gpsd/gpsd/gpsd
@@ -52,10 +52,10 @@ do_start()
 	#   0 if daemon has been started
 	#   1 if daemon was already running
 	#   2 if daemon could not be started
-	start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
+	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
         -- $GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES > /dev/null \
 		|| return 1
-	start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
+	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
 		$GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES \
 		|| return 2
 }
@@ -70,7 +70,7 @@ do_stop()
 	#   1 if daemon was already stopped
 	#   2 if daemon could not be stopped
 	#   other if a failure occurred
-	start-stop-daemon --stop --quiet --retry=TERM/30/KILL/5 --pidfile $PIDFILE --name $NAME
+	/usr/sbin/start-stop-daemon --stop --quiet --retry=TERM/30/KILL/5 --pidfile $PIDFILE --name $NAME
 	RETVAL="$?"
 	[ "$RETVAL" = 2 ] && return 2
 	# Many daemons don't delete their pidfiles when they exit.
@@ -87,7 +87,7 @@ do_reload() {
 	# restarting (for example, when it is sent a SIGHUP),
 	# then implement that here.
 	#
-	start-stop-daemon --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME
+	/usr/sbin/start-stop-daemon -N -20 --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME
 	return 0
 }
 
diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index 0ceff03..fe8576a 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -1,5 +1,6 @@
 # If you must specify a non-NMEA driver, uncomment and modify the next line
 GPSD_SOCKET="/var/run/gpsd.sock"
-GPSD_OPTIONS="" 
-GPS_DEVICES=""
+GPSD_OPTIONS="-n -D 1" 
 
+# Conduit 0.1 GPS devices
+GPS_DEVICES="/dev/ttyXRUSB2 /dev/pps0"
diff --git a/recipes-navigation/gpsd/gpsd_3.16.20161219.bb b/recipes-navigation/gpsd/gpsd_3.16.20161219.bb
new file mode 100644
index 0000000..e2ac693
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd_3.16.20161219.bb
@@ -0,0 +1,158 @@
+SUMMARY = "A TCP/IP Daemon simplifying the communication with GPS devices"
+SECTION = "console/network"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://../git/COPYING;md5=d217a23f408e91c94359447735bc1800"
+DEPENDS = "dbus dbus-glib ncurses python libusb1 chrpath-replacement-native pps-tools"
+PROVIDES = "virtual/gpsd"
+
+EXTRANATIVEPATH += "chrpath-native"
+
+# Do we still need this?
+#    file://0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
+#    file://0001-include-sys-ttydefaults.h.patch
+#    file://0002-SConstruct-remove-rpath.patch
+
+# git://git.savannah.nongnu.org/gpsd.git
+SRC_URI = "git://git.savannah.nongnu.org/gpsd.git;branch=master;protocol=git \
+    file://0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch \
+    file://gpsd-default \
+    file://gpsd \
+    file://60-gpsd.rules \
+    file://gpsd.service \
+"
+S = "${WORKDIR}/git"
+
+SRCREV = "fde48f5538520bd98da42b4b9f60b5074c61bc2d"
+# Fixed
+#    file://0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch
+#    file://0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch
+#    file://0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch
+#    file://0001-Include-stdatomic.h-only-in-C-mode.patch
+#    file://0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch
+
+SRC_URI[md5sum] = "68691b5de4c94f82ec4062b042b5eb63"
+SRC_URI[sha256sum] = "03579af13a4d3fe0c5b79fa44b5f75c9f3cac6749357f1d99ce5d38c09bc2029"
+
+
+inherit scons update-rc.d python-dir pythonnative systemd
+
+INITSCRIPT_NAME = "gpsd"
+INITSCRIPT_PARAMS = "defaults 35"
+
+SYSTEMD_OESCONS = "${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false',d)}"
+
+export STAGING_INCDIR
+export STAGING_LIBDIR
+
+# Necessary for python
+export BUILD_SYS
+export HOST_SYS
+
+PACKAGECONFIG ??= "${@bb.utils.contains('DISTRO_FEATURES', 'bluetooth', 'bluez', '', d)}"
+PACKAGECONFIG[bluez] = "bluez='false',${BLUEZ}"
+PACKAGECONFIG[qt] = "qt='yes',qt='no',qt4-x11-free"
+EXTRA_OESCONS = " \
+    sysroot=${STAGING_DIR_TARGET} \
+    libQgpsmm='false' \
+    debug='true' \
+    strip='false' \
+    chrpath='yes' \
+    systemd='${SYSTEMD_OESCONS}' \
+    libdir='${libdir}' \
+    ublox='yes' \
+    pps='yes' \
+    gpsd_group='gps' \
+    ntpshm='yes' \
+    ${PACKAGECONFIG_CONFARGS} \
+"
+# this cannot be used, because then chrpath is not found and only static lib is built
+# target=${HOST_SYS}
+
+do_compile_prepend() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export LINKFLAGS="${LDFLAGS}"
+}
+
+do_install() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export LINKFLAGS="${LDFLAGS}"
+
+    export DESTDIR="${D}"
+    # prefix is used for RPATH and DESTDIR/prefix for instalation
+    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} install ${EXTRA_OESCONS}|| \
+      bbfatal "scons install execution failed."
+}
+
+do_install_append() {
+    install -d ${D}/${sysconfdir}/init.d
+    install -m 0755 ${WORKDIR}/gpsd ${D}/${sysconfdir}/init.d/
+    install -d ${D}/${sysconfdir}/default
+    install -m 0644 ${WORKDIR}/gpsd-default ${D}/${sysconfdir}/default/gpsd.default
+
+    #support for udev
+    install -d ${D}/${sysconfdir}/udev/rules.d
+    install -m 0644 ${WORKDIR}/60-gpsd.rules ${D}/${sysconfdir}/udev/rules.d
+    install -d ${D}${base_libdir}/udev/
+    install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
+
+    #support for python
+    install -d ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
+    install -m 755 ${S}/gps/*.py ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
+
+    #support for systemd
+    install -d ${D}${systemd_unitdir}/system/
+    install -m 0644 ${WORKDIR}/${BPN}.service ${D}${systemd_unitdir}/system/${BPN}.service
+    install -m 0644 ${S}/systemd/${BPN}.socket ${D}${systemd_unitdir}/system/${BPN}.socket
+}
+
+pkg_postinst_${PN}-conf() {
+    update-alternatives --install ${sysconfdir}/default/gpsd gpsd-defaults ${sysconfdir}/default/gpsd.default 10
+}
+
+pkg_postrm_${PN}-conf() {
+    update-alternatives --remove gpsd-defaults ${sysconfdir}/default/gpsd.default
+}
+
+PACKAGES =+ "libgps libgpsd python-pygps-dbg python-pygps gpsd-udev gpsd-conf gpsd-gpsctl gps-utils"
+
+FILES_${PN}-dev += "${libdir}/pkgconfdir/libgpsd.pc ${libdir}/pkgconfdir/libgps.pc \
+                    ${libdir}/libQgpsmm.prl"
+
+FILES_python-pygps-dbg += " ${libdir}/python*/site-packages/gps/.debug"
+
+RDEPENDS_${PN} = "gpsd-gpsctl"
+RRECOMMENDS_${PN} = "gpsd-conf gpsd-udev gpsd-machine-conf"
+
+SUMMARY_gpsd-udev = "udev relevant files to use gpsd hotplugging"
+FILES_gpsd-udev = "${base_libdir}/udev ${sysconfdir}/udev/*"
+RDEPENDS_gpsd-udev += "udev gpsd-conf"
+
+SUMMARY_libgpsd = "C service library used for communicating with gpsd"
+FILES_libgpsd = "${libdir}/libgpsd.so.*"
+
+SUMMARY_libgps = "C service library used for communicating with gpsd"
+FILES_libgps = "${libdir}/libgps.so.*"
+
+SUMMARY_gpsd-conf = "gpsd configuration files and init scripts"
+FILES_gpsd-conf = "${sysconfdir}"
+CONFFILES_gpsd-conf = "${sysconfdir}/default/gpsd.default"
+
+SUMMARY_gpsd-gpsctl = "Tool for tweaking GPS modes"
+FILES_gpsd-gpsctl = "${bindir}/gpsctl"
+
+SUMMARY_gps-utils = "Utils used for simulating, monitoring,... a GPS"
+FILES_gps-utils = "${bindir}/*"
+RDEPENDS_gps-utils = "python-pygps"
+
+SUMMARY_python-pygps = "Python bindings to gpsd"
+FILES_python-pygps = "${PYTHON_SITEPACKAGES_DIR}/*"
+RDEPENDS_python-pygps = "python-core python-curses gpsd python-json"
+
+RPROVIDES_${PN} += "${PN}-systemd"
+RREPLACES_${PN} += "${PN}-systemd"
+RCONFLICTS_${PN} += "${PN}-systemd"
+SYSTEMD_SERVICE_${PN} = "${PN}.socket"
diff --git a/recipes-navigation/gpsd/gpsd_3.16.bb b/recipes-navigation/gpsd/gpsd_3.16.bb
new file mode 100644
index 0000000..19603b9
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd_3.16.bb
@@ -0,0 +1,152 @@
+SUMMARY = "A TCP/IP Daemon simplifying the communication with GPS devices"
+SECTION = "console/network"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://COPYING;md5=d217a23f408e91c94359447735bc1800"
+DEPENDS = "dbus dbus-glib ncurses python libusb1 chrpath-replacement-native pps-tools"
+PROVIDES = "virtual/gpsd"
+
+EXTRANATIVEPATH += "chrpath-native"
+
+#    file://0002-SConstruct-remove-rpath.patch
+SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
+    file://0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch \
+    file://0004-SConstruct-disable-html-and-man-docs-building-becaus.patch \
+    file://0001-include-sys-ttydefaults.h.patch \
+    file://gpsd-default \
+    file://gpsd \
+    file://60-gpsd.rules \
+    file://gpsd.service \
+"
+# Fixed
+#    file://0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch
+#    file://0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch
+#    file://0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch
+#    file://0001-Include-stdatomic.h-only-in-C-mode.patch
+#    file://0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch
+
+SRC_URI[md5sum] = "68691b5de4c94f82ec4062b042b5eb63"
+SRC_URI[sha256sum] = "03579af13a4d3fe0c5b79fa44b5f75c9f3cac6749357f1d99ce5d38c09bc2029"
+
+
+inherit scons update-rc.d python-dir pythonnative systemd
+
+INITSCRIPT_NAME = "gpsd"
+INITSCRIPT_PARAMS = "defaults 35"
+
+SYSTEMD_OESCONS = "${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false',d)}"
+
+export STAGING_INCDIR
+export STAGING_LIBDIR
+
+# Necessary for python
+export BUILD_SYS
+export HOST_SYS
+
+PACKAGECONFIG ??= "${@bb.utils.contains('DISTRO_FEATURES', 'bluetooth', 'bluez', '', d)}"
+PACKAGECONFIG[bluez] = "bluez='false',${BLUEZ}"
+PACKAGECONFIG[qt] = "qt='yes',qt='no',qt4-x11-free"
+EXTRA_OESCONS = " \
+    sysroot=${STAGING_DIR_TARGET} \
+    libQgpsmm='false' \
+    debug='true' \
+    strip='false' \
+    chrpath='yes' \
+    systemd='${SYSTEMD_OESCONS}' \
+    libdir='${libdir}' \
+    ublox='yes' \
+    pps='yes' \
+    gpsd_group='gps' \
+    ntpshm='yes' \
+    ${PACKAGECONFIG_CONFARGS} \
+"
+# this cannot be used, because then chrpath is not found and only static lib is built
+# target=${HOST_SYS}
+
+do_compile_prepend() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export LINKFLAGS="${LDFLAGS}"
+}
+
+do_install() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export LINKFLAGS="${LDFLAGS}"
+
+    export DESTDIR="${D}"
+    # prefix is used for RPATH and DESTDIR/prefix for instalation
+    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} install ${EXTRA_OESCONS}|| \
+      bbfatal "scons install execution failed."
+}
+
+do_install_append() {
+    install -d ${D}/${sysconfdir}/init.d
+    install -m 0755 ${WORKDIR}/gpsd ${D}/${sysconfdir}/init.d/
+    install -d ${D}/${sysconfdir}/default
+    install -m 0644 ${WORKDIR}/gpsd-default ${D}/${sysconfdir}/default/gpsd.default
+
+    #support for udev
+    install -d ${D}/${sysconfdir}/udev/rules.d
+    install -m 0644 ${WORKDIR}/60-gpsd.rules ${D}/${sysconfdir}/udev/rules.d
+    install -d ${D}${base_libdir}/udev/
+    install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
+
+    #support for python
+    install -d ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
+    install -m 755 ${S}/gps/*.py ${D}/${PYTHON_SITEPACKAGES_DIR}/gps
+
+    #support for systemd
+    install -d ${D}${systemd_unitdir}/system/
+    install -m 0644 ${WORKDIR}/${BPN}.service ${D}${systemd_unitdir}/system/${BPN}.service
+    install -m 0644 ${S}/systemd/${BPN}.socket ${D}${systemd_unitdir}/system/${BPN}.socket
+}
+
+pkg_postinst_${PN}-conf() {
+    update-alternatives --install ${sysconfdir}/default/gpsd gpsd-defaults ${sysconfdir}/default/gpsd.default 10
+}
+
+pkg_postrm_${PN}-conf() {
+    update-alternatives --remove gpsd-defaults ${sysconfdir}/default/gpsd.default
+}
+
+PACKAGES =+ "libgps libgpsd python-pygps-dbg python-pygps gpsd-udev gpsd-conf gpsd-gpsctl gps-utils"
+
+FILES_${PN}-dev += "${libdir}/pkgconfdir/libgpsd.pc ${libdir}/pkgconfdir/libgps.pc \
+                    ${libdir}/libQgpsmm.prl"
+
+FILES_python-pygps-dbg += " ${libdir}/python*/site-packages/gps/.debug"
+
+RDEPENDS_${PN} = "gpsd-gpsctl"
+RRECOMMENDS_${PN} = "gpsd-conf gpsd-udev gpsd-machine-conf"
+
+SUMMARY_gpsd-udev = "udev relevant files to use gpsd hotplugging"
+FILES_gpsd-udev = "${base_libdir}/udev ${sysconfdir}/udev/*"
+RDEPENDS_gpsd-udev += "udev gpsd-conf"
+
+SUMMARY_libgpsd = "C service library used for communicating with gpsd"
+FILES_libgpsd = "${libdir}/libgpsd.so.*"
+
+SUMMARY_libgps = "C service library used for communicating with gpsd"
+FILES_libgps = "${libdir}/libgps.so.*"
+
+SUMMARY_gpsd-conf = "gpsd configuration files and init scripts"
+FILES_gpsd-conf = "${sysconfdir}"
+CONFFILES_gpsd-conf = "${sysconfdir}/default/gpsd.default"
+
+SUMMARY_gpsd-gpsctl = "Tool for tweaking GPS modes"
+FILES_gpsd-gpsctl = "${bindir}/gpsctl"
+
+SUMMARY_gps-utils = "Utils used for simulating, monitoring,... a GPS"
+FILES_gps-utils = "${bindir}/*"
+RDEPENDS_gps-utils = "python-pygps"
+
+SUMMARY_python-pygps = "Python bindings to gpsd"
+FILES_python-pygps = "${PYTHON_SITEPACKAGES_DIR}/*"
+RDEPENDS_python-pygps = "python-core python-curses gpsd python-json"
+
+RPROVIDES_${PN} += "${PN}-systemd"
+RREPLACES_${PN} += "${PN}-systemd"
+RCONFLICTS_${PN} += "${PN}-systemd"
+SYSTEMD_SERVICE_${PN} = "${PN}.socket"
diff --git a/recipes-navigation/gpsd/gpsdupdater/bin/bldgpsd.sh b/recipes-navigation/gpsd/gpsdupdater/bin/bldgpsd.sh
new file mode 100755
index 0000000..aeedf67
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsdupdater/bin/bldgpsd.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+# This program creates an installer bash script.
+# To install you execute:
+# bash gpsdipk.sh
+# Files needed
+# ~/lib/opkginstall.sh
+# ~/lib/bashinstaller.sh
+#
+function usage
+{
+  echo 'bldgpsd [mlinuxdir]' 2>&1
+  exit
+}
+function cleanup
+{
+  if [[ $tmpdir =~ ^/var/tmp/gpsdbld ]] ; then
+    rm -rf $tmpdir
+  fi
+}
+if (($# != 1)) ; then
+  usage
+fi
+trap cleanup exit
+mlpath="$1"
+
+
+fullpath=$(readlink ${mlpath})
+tmpdirtemplate=/var/tmp/gpsdbld.XXXXX
+tmpdir=$(mktemp -d $tmpdirtemplate)
+FLIST=\
+"
+libpanelw5_*_arm926ejste.ipk
+python-curses_*_arm926ejste.ipk
+python-json_*_arm926ejste.ipk
+libgps22_0*_arm926ejste.ipk  
+gpsd_*_arm926ejste.ipk 
+gpsd-conf_*_arm926ejste.ipk 
+gpsd-gpsctl_*_arm926ejste.ipk 
+gpsd-udev_*_arm926ejste.ipk 
+gps-utils_*_arm926ejste.ipk 
+python-pygps_*_arm926ejste.ipk 
+ntp_*_arm926ejste.ipk 
+ntp-utils_*_arm926ejste.ipk 
+ntp-tickadj_*_arm926ejste.ipk 
+busybox_*_arm926ejste.ipk 
+"
+armpath=${mlpath}/build/tmp/deploy/ipk/arm926ejste
+if ! [[ -d $armpath ]] ; then
+  echo $armpath does not exist.  No files to save
+  exit 1
+fi
+mkdir ${tmpdir}/packages
+cp ~/lib/bashinstaller.sh $tmpdir/packages/gpsdipk.sh
+
+echo directory is $armpath
+echo list is $FLIST
+chmod +x ~/lib/bashinstaller.sh
+(cd $armpath; cp ~/lib/opkginstall.sh . ; echo opkginstall.sh $FLIST | tr ' ' '\n' | cpio -ov -Hcrc >>${tmpdir}/packages/gpsdipk.sh ; rm opkginstall.sh)
+mv ${tmpdir}/packages/gpsdipk.sh /var/tmp
+echo installer is /var/tmp/gpsdipk.sh
+
diff --git a/recipes-navigation/gpsd/gpsdupdater/lib/bashinstaller.sh b/recipes-navigation/gpsd/gpsdupdater/lib/bashinstaller.sh
new file mode 100755
index 0000000..8b04288
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsdupdater/lib/bashinstaller.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+echo ""
+echo "Self Extracting Installer"
+echo ""
+
+export TMPDIR=`mktemp -d /tmp/selfextract.XXXXXX`
+
+ARCHIVE=`awk '/^__ARCHIVE_BELOW__/ {print NR + 1; exit 0; }' $0`
+
+tail -n+$ARCHIVE $0 | (cd $TMPDIR; pwd; ls; cpio -ivdum)
+
+CDIR=`pwd`
+cd $TMPDIR
+./opkginstall.sh
+
+cd $CDIR
+
+#rm -rf $TMPDIR
+
+exit 0
+
+__ARCHIVE_BELOW__
diff --git a/recipes-navigation/gpsd/gpsdupdater/lib/opkginstall.sh b/recipes-navigation/gpsd/gpsdupdater/lib/opkginstall.sh
new file mode 100755
index 0000000..d1c17ba
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsdupdater/lib/opkginstall.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+list=""
+for f in *.ipk ; do
+  if [[ $f =~ ^busybox ]] ; then
+    continue
+  fi
+  [[ $f =~ ([^_]*) ]] && true
+  list+="${BASH_REMATCH[1]} "
+done
+list=$(echo $list | xargs)
+echo $list
+set -x
+opkg --force-depends --force-remove --force-removal-of-dependent-packages  remove $list
+opkg install *.ipk
+set +x
diff --git a/recipes-support/ntp/files/ntp.conf.patch b/recipes-support/ntp/files/ntp.conf.patch
new file mode 100644
index 0000000..499dac5
--- /dev/null
+++ b/recipes-support/ntp/files/ntp.conf.patch
@@ -0,0 +1,53 @@
+diff -u old/ntp.conf new/ntp.conf
+--- old/ntp.conf	2016-12-21 08:36:33.887646960 -0600
++++ new/ntp.conf	2016-12-21 08:37:41.115645756 -0600
+@@ -1,7 +1,20 @@
+-# This is the most basic ntp configuration file
+ # The driftfile must remain in a place specific to this
+ # machine - it records the machine specific clock error
+-driftfile /etc/ntp.drift
++# Driftfile must be in a directory owned by ntp
++driftfile /var/lib/ntp/ntp.drift
++
++# The following code is for evaluating the timeserver.
++# Remove the # to activate the statistics
++# statistics loopstats
++# statistics peerstats
++# statsdir /var/log/ntpstats
++# filegen peerstats file peerstats type day link enable
++# filegen loopstats file loopstats type day link enable
++
++# This is the US timeserver pool.  You should use a pool
++# close to your location.
++#pool us.pool.ntp.org iburst
++
+ # This should be a server that is close (in IP terms)
+ # to the machine.  Add other servers as required.
+ # Unless you un-comment the line below ntpd will sync
+@@ -9,8 +22,26 @@
+ #
+ # server time.server.example.com
+ #
++
++logfile /var/log/ntp.log
++
++restrict default kod nomodify notrap nopeer noquery
++restrict -6 default kod nomodify notrap nopeer noquery
++restrict 127.0.0.1 mask 255.255.255.0
++restrict -6 ::1
++
++# GPS Serial data reference (NTP0)
++server 127.127.28.0
++fudge 127.127.28.0 time1 0.080 refid GPS
++
++# GPS PPS reference (NTP2)
++server 127.127.28.2 prefer
++fudge 127.127.28.2 time1 0.000 refid PPS
++
+ # Using local hardware clock as fallback
+ # Disable this when using ntpd -q -g -x as ntpdate or it will sync to itself
++# The stratum should be a high value so this does not get chosen
++# except in dire circumstances.
+ server 127.127.1.0
+ fudge 127.127.1.0 stratum 14
+ # Defining a default security setting
diff --git a/recipes-support/ntp/files/ntpd-init.patch b/recipes-support/ntp/files/ntpd-init.patch
new file mode 100644
index 0000000..fc388f8
--- /dev/null
+++ b/recipes-support/ntp/files/ntpd-init.patch
@@ -0,0 +1,11 @@
+--- old/ntpd	2016-12-19 18:11:58.022663976 -0600
++++ new/ntpd	2016-12-19 18:12:56.618663852 -0600
+@@ -23,7 +23,7 @@
+ 	# this.  If ntpd seems to disappear after a while assume TICKADJ
+ 	# above is set to a totally incorrect value.
+ 	echo -n "Starting ntpd: "
+-	start-stop-daemon --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
++	start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
+ 	echo "done"
+ }
+ stopdaemon(){
diff --git a/recipes-support/ntp/ntp_4.2.6p5.bbappend b/recipes-support/ntp/ntp_4.2.6p5.bbappend
new file mode 100644
index 0000000..4651611
--- /dev/null
+++ b/recipes-support/ntp/ntp_4.2.6p5.bbappend
@@ -0,0 +1,26 @@
+PR .= ".mlinux1"
+
+SRC_URI += " file://ntpd-init.patch;patchdir=.. \
+             file://ntp.conf.patch;patchdir=.. \
+		"
+FILESEXTRAPATHS_prepend := "${THISDIR}/files"
+
+python do_patch_prepend () {
+    import os
+}
+pkg_postinst_${PN} () {
+    if ! [[ -d /var/log/ntpstats ]] ; then
+	mkdir -p /var/log/ntpstats
+    fi
+    chown ntp:ntp /var/log/ntpstats
+    chmod 775 /var/log/ntpstats
+
+    if ! [[ -d /var/lib/ntp ]] ; then
+	mkdir -p /var/lib/ntp
+    fi
+    drfile="/var/lib/ntp/ntp.drift"
+    touch ${drfile}
+    chown ntp:ntp ${drfile}
+    chmod 664 ${drfile}
+}
+