Merge branch 'master' of gitlab.multitech.net:mirrors/meta-mlinux

46 files changed, 2198 insertions, 107 deletions

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index e07d2a9..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,36 +0,0 @@
-variables:
-  GIT_STRATEGY: none
-
-before_script:
-  - test -d mlinux || git clone git@gitlab.multitech.net:mirrors/mlinux.git
-  - cd mlinux
-  - git pull
-  - (test -f env-oe.sh && ./setup.sh --update) || ./setup.sh
-  - source env-oe.sh
-  - cd layers/meta-mlinux
-  - git fetch
-  - git checkout $CI_BUILD_REF
-  - cd ../..
-
-cache:
-  untracked: true
-
-mtcdt_mlinux:
-  stage: build
-  tags:
-    - mlinux
-  script:
-    - bitbake mlinux-factory-image
-  artifacts:
-    paths:
-      - mlinux/build/tmp/deploy/images/mtcdt/*-upgrade.bin
-
-mtcap_mlinux:
-  stage: build
-  tags:
-    - mlinux
-  script:
-    - MACHINE=mtcap bitbake mlinux-mtcap-image
-  artifacts:
-    paths:
-      - mlinux/build/tmp/deploy/images/mtcap/*-upgrade.bin
diff --git a/classes/mlinux-mirrors.bbclass b/classes/mlinux-mirrors.bbclass
index 17bd692..7f80d46 100644
--- a/classes/mlinux-mirrors.bbclass
+++ b/classes/mlinux-mirrors.bbclass
@@ -13,3 +13,5 @@ MIRRORS_append () {
 ftp://.*/.*	http://multitech.net/mlinux/sources/
 https?$://.*/.*	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..e4b199e 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}.5"
 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/prod-scripts/MTCDT-0.1/cdteep.sh b/prod-scripts/MTCDT-0.1/cdteep.sh
new file mode 100755
index 0000000..c0e1e14
--- /dev/null
+++ b/prod-scripts/MTCDT-0.1/cdteep.sh
@@ -0,0 +1,110 @@
+#!/bin/sh
+# This scripts follows old school option rules, and all
+# options must come before parameters.  Four parameters
+# are required.  Options requiring parameters must be
+# followed by their parameter, with or without a space.
+# Options not requiring parameters can be ganged, and may
+# precede a single option requiring a parameter.
+# 
+MYNAME=cdteep.sh
+out="/sys/bus/i2c/devices/0-0056/eeprom"
+vendor_id="Multi-Tech Systems"
+hw_version="MTCDT-0.1"
+
+
+# Set the MTCDT EEPROM
+function usage {
+  echo "${MYNAME}"' -d -g -b "bt_mac_addr" -w "wifi_mac_addr" -i "imei number" -l "product-id" "device-id" "uuid" "eth_mac_addr"' >&2
+  cat <<!EOF >&2
+  assumptions:
+    All options are optional and must come first.
+    -b and -w require a following mac address
+    -d displays the PROM, do not write.  Ignores other parameters.
+    -g GPS capability.
+    -l lora capability.
+    -i requires a following imei number
+    
+    Example
+    cdteep.sh -lb 01:12:AB:C3:23:FE MTCDT-210L 3489235379 125-6356-2283-9792 12:34:AB:CD:8F:34
+    To add wifimac and remove lora:
+    ${MYNAME} -b 01:12:AB:C3:23:FE -w 04:16:3C:C3:45:75 MTCDT-210L 3489235379 125-6356-2283-9792 12:34:AB:CD:8F:34
+        
+    product-id, device-id, uuid and eth_mac_addr are required.
+    
+    -d          display EEPROM
+    -g          capa-GPS
+    -l          capa-Lora
+    The following fields are fixed:
+    out-file    ${out}
+    vendor-id   ${vendor_id}
+    hw-version  ${hw_version}
+!EOF
+  exit 1
+}
+
+((display=0))
+
+while getopts b:dgw:i:l opt ; do
+echo looking at opt $opt
+  case $opt in
+  b)
+    bt_mac_addr="$OPTARG"
+    barg="--mac-bluetooth ${OPTARG} --capa-bluetooth"
+    ;;
+  w)
+    wifi_mac_addr="$OPTARG"
+    warg="--mac-wifi ${OPTARG} --capa-wifi"
+    ;;
+  i)
+    imei="$OPTARG"
+    if ((${#imei} == 0)) ; then
+	echo "i option requires an imei number." >&2
+	usage
+    fi
+    iarg="--imei ${OPTARG}"
+    ;;
+  l)
+    larg="--capa-lora"
+    ;;
+  d)
+    echo -e "\n\nEEPROM contents"
+    echo    "-----------------"
+    mts-id-eeprom --in-file $out
+    exit
+    ;;
+  g)
+    gps="--capa-gps"
+    ;;
+ \?)
+    usage
+    ;;
+ :)
+    echo "Option -$OPTARG requires an argument." >&2
+    usage
+    ;;
+  esac
+done
+
+
+shift $((OPTIND-1))
+
+if (($# != 4)) ; then
+  echo Need 4 parameters beyond the options. >&2
+  echo "You specified $#." >&2
+  usage
+  exit 1
+fi
+product_id=$1
+device_id=$2
+uuid=$3
+mac=$4
+
+mts-id-eeprom --out-file $out --out-format bin --vendor-id "$vendor_id" \
+  --product-id "$product_id" --device-id "$device_id" \
+  --hw-version "$hw_version" --mac-addr $mac \
+  ${warg} ${barg} \
+  ${iarg} ${larg} ${gps} --uuid "$uuid"
+
+echo -e "\n\nNew contents"
+echo    "-----------------"
+mts-id-eeprom --in-file $out
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-core/images/mlinux-factory-image.bb b/recipes-core/images/mlinux-factory-image.bb
index 6ce05ab..b8d2676 100644
--- a/recipes-core/images/mlinux-factory-image.bb
+++ b/recipes-core/images/mlinux-factory-image.bb
@@ -80,6 +80,8 @@ IMAGE_INSTALL += "sms-utils"
 # Multi-Tech GPS Utility
 IMAGE_INSTALL += "venus-gps"
 IMAGE_INSTALL += "pps-tools"
-IMAGE_INSTALL += "gpsd"
+
+# When ntp is to use the GPS, gps-utils is required
+IMAGE_INSTALL += "gpsd ntp ntp-utils gps-utils gpsd-udev"
 
 IMAGE_INSTALL += "uvccapture"
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch
new file mode 100644
index 0000000..82ac5aa
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch
@@ -0,0 +1,25 @@
+From c30716be9e615513fe66993fd3cdc818c3d70410 Mon Sep 17 00:00:00 2001
+From: "Gary E. Miller" <gem@rellim.com>
+Date: Sun, 15 Mar 2015 11:51:45 -0700
+Subject: [PATCH 1/3] Check for __STDC_NO_ATOMICS__ before using stdatomic.h
+
+---
+ SConstruct | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/SConstruct b/SConstruct
+index adf473d..566c14a 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -633,7 +633,7 @@ else:
+         announce("You do not have kernel CANbus available.")
+         env["nmea2000"] = False
+ 
+-    if config.CheckHeader("stdatomic.h"):
++    if not config.CheckCompilerDefines("__STDC_NO_ATOMICS__") and config.CheckHeader("stdatomic.h"):
+         confdefs.append("#define HAVE_STDATOMIC_H 1\n")
+     else:
+ 	confdefs.append("/* #undef HAVE_STDATOMIC_H */\n")
+-- 
+2.1.0
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0001-Include-stdatomic.h-only-in-C-mode.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-Include-stdatomic.h-only-in-C-mode.patch
new file mode 100644
index 0000000..bc9167e
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-Include-stdatomic.h-only-in-C-mode.patch
@@ -0,0 +1,43 @@
+From 79f6d9133378325d70a92e66f7352c1becefbb88 Mon Sep 17 00:00:00 2001
+From: Gleb Smirnoff <glebius@FreeBSD.org>
+Date: Sat, 16 May 2015 02:47:28 +0300
+Subject: [PATCH] Include <stdatomic.h> only in C mode.
+
+Upstream-Status: Backport from 3.15
+
+Without this build with gcc-5.2 fails with:
+| arm-oe-linux-gnueabi-g++ -march=armv4t -mthumb -mthumb-interwork -mtune=arm920t --sysroot=/OE/build/shr-core/tmp-glibc/sysroots/om-gta02 -o clock_gettime-qt.os -c -O2 -pipe -g -feliminate-unused-debug-types --sysroot=/OE/build/shr-core/tmp-glibc/sysroots/om-gta02 -Wextra -Wall -Wno-uninitialized -Wno-missing-field-initializers -Wcast-align -Wmissing-declarations -Wpointer-arith -Wreturn-type -pthread -Wmissing-declarations -g -O0 -pthread -fPIC -DUSE_QT -DQT_SHARED -I/OE/build/shr-core/tmp-glibc/sysroots/om-gta02/usr/include/dbus-1.0 -I/OE/build/shr-core/tmp-glibc/sysroots/om-gta02/usr/lib/dbus-1.0/include -I/OE/build/shr-core/tmp-glibc/sysroots/om-gta02/usr/include/qt4/QtNetwork -I/OE/build/shr-core/tmp-glibc/sysroots/om-gta02/usr/include/qt4 -I/OE/build/shr-core/tmp-glibc/sysroots/om-gta02/usr/include/qt4/QtCore clock_gettime.c
+| In file included from compiler.h:50:0,
+|                  from clock_gettime.c:10:
+| /OE/build/shr-core/tmp-glibc/sysroots/x86_64-linux/usr/lib/arm-oe-linux-gnueabi/gcc/arm-oe-linux-gnueabi/5.2.0/include/stdatomic.h:40:9: error: '_Atomic' does not name a type
+|  typedef _Atomic _Bool atomic_bool;
+|          ^
+....
+
+More info:
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=60932
+
+Signed-off-by: Gary E. Miller <gem@rellim.com>
+---
+ compiler.h | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/compiler.h b/compiler.h
+index 837c935..03430c0 100644
+--- a/compiler.h
++++ b/compiler.h
+@@ -66,9 +66,9 @@
+     } while (0)
+ 
+ #ifdef HAVE_STDATOMIC_H
+-#ifndef __COVERITY__	/* Coverity is confused by a GNU typedef */
++#if !defined(__COVERITY__) && !defined(__cplusplus)
+ #include <stdatomic.h>
+-#endif /* __COVERITY__ */
++#endif /* __COVERITY__ || __cplusplus */
+ #endif /* HAVE_STDATOMIC_H */
+ 
+ #ifdef HAVE_OSATOMIC_H
+-- 
+2.5.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch
new file mode 100644
index 0000000..2ea3226
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-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-3.14/0001-SConstruct-respect-sysroot-also-in-SPLINTOPTS.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-SConstruct-respect-sysroot-also-in-SPLINTOPTS.patch
new file mode 100644
index 0000000..c4134f4
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-SConstruct-respect-sysroot-also-in-SPLINTOPTS.patch
@@ -0,0 +1,33 @@
+From 3c5fb3a8691ac711ea93edf8e0b42bffc62b197e Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 24 Apr 2012 11:52:35 +0200
+Subject: [PATCH 1/4] SConstruct: respect sysroot also in SPLINTOPTS
+
+Upstream-Status: Inappropriate [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 | 5 ++++-
+ 1 file changed, 4 insertions(+), 1 deletion(-)
+
+diff --git a/SConstruct b/SConstruct
+index 14e2f59..f0cafa8 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -1414,7 +1414,10 @@ def Utility(target, source, action):
+ # Report splint warnings
+ # Note: test_bits.c is unsplintable because of the PRI64 macros.
+ # If you get preprocessor or fatal errors, add +showscan.
+-splintopts = "-I/usr/include/libusb-1.0 +quiet"
++if not env['sysroot']:
++    splintopts = "-I/usr/include/libusb-1.0 +quiet"
++else:
++    splintopts = "-I%s/usr/include/libusb-1.0 +quiet" % env['sysroot']
+ # splint does not know about multi-arch, work around that
+ ma_status, ma = _getstatusoutput('dpkg-architecture -qDEB_HOST_MULTIARCH')
+ if ma_status == 0:
+-- 
+1.8.5.5
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0001-include-sys-ttydefaults.h.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-include-sys-ttydefaults.h.patch
new file mode 100644
index 0000000..b27c671
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-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-3.14/0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch b/recipes-navigation/gpsd/gpsd-3.14/0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch
new file mode 100644
index 0000000..7a06795
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch
@@ -0,0 +1,35 @@
+From 6ff099b1ba8de74df9ddeb61e3825264b96ef692 Mon Sep 17 00:00:00 2001
+From: Moritz Fischer <moritz.fischer@ettus.com>
+Date: Tue, 22 Dec 2015 19:38:31 -0800
+Subject: [PATCH] libgpsd-core: Fix issue with ACTIVATE hook not being called.
+
+In the current system session->mode seemed to ignore the
+O_OPTIMIZE flag, leading to the ACTIVATE hook being ignored.
+
+Another way to fix this would be to keep the session->mode
+condition pull up the check for O_CONTINUE.
+
+Upstream-Status: Backported
+This patch is in upstream git
+
+Signed-off-by: Moritz Fischer <moritz.fischer@ettus.com>
+---
+ libgpsd_core.c | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/libgpsd_core.c b/libgpsd_core.c
+index 31fec2a..a84e85f 100644
+--- a/libgpsd_core.c
++++ b/libgpsd_core.c
+@@ -543,7 +543,7 @@ int gpsd_open(struct gps_device_t *session)
+ int gpsd_activate(struct gps_device_t *session, const int mode)
+ /* acquire a connection to the GPS device */
+ {
+-    if (session->mode == O_OPTIMIZE)
++    if (mode == O_OPTIMIZE)
+ 	gpsd_run_device_hook(&session->context->errout,
+ 			     session->gpsdata.dev.path, "ACTIVATE");
+     session->gpsdata.gps_fd = gpsd_open(session);
+-- 
+2.4.3
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch b/recipes-navigation/gpsd/gpsd-3.14/0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch
new file mode 100644
index 0000000..22ee1bd
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch
@@ -0,0 +1,57 @@
+From 99444b3d2c4a4f7fd7128e60461005780d0c5c83 Mon Sep 17 00:00:00 2001
+From: "Gary E. Miller" <gem@rellim.com>
+Date: Sun, 15 Mar 2015 12:05:15 -0700
+Subject: [PATCH 2/3] Add a test for C11 and check we have C11 before using
+ stdatomic.h
+
+---
+ SConstruct | 19 ++++++++++++++++++-
+ 1 file changed, 18 insertions(+), 1 deletion(-)
+
+diff --git a/SConstruct b/SConstruct
+index 566c14a..faa8651 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -473,6 +473,20 @@ def CheckCompilerDefines(context, define):
+     context.Result(ret)
+     return ret
+ 
++# Check if this compiler is C11 or better
++def CheckC11(context):
++    context.Message( 'Checking if compiler is C11 ...' )
++    ret = context.TryLink("""
++	#if (__STDC_VERSION__ < 201112L) 
++        #error Not C11
++        #endif
++        int main(int argc, char **argv) {
++            return 0;
++        }
++    """,'.c')
++    context.Result(ret)
++    return ret
++
+ def GetLoadPath(context):
+     context.Message("Getting system load path ...")
+ 
+@@ -491,6 +505,7 @@ else:
+                                              'CheckXsltproc' : CheckXsltproc,
+                                              'CheckCompilerOption' : CheckCompilerOption,
+                                              'CheckCompilerDefines' : CheckCompilerDefines,
++                                             'CheckC11' : CheckC11,
+                                              'CheckHeaderDefines' : CheckHeaderDefines})
+ 
+ 
+@@ -633,7 +648,9 @@ else:
+         announce("You do not have kernel CANbus available.")
+         env["nmea2000"] = False
+ 
+-    if not config.CheckCompilerDefines("__STDC_NO_ATOMICS__") and config.CheckHeader("stdatomic.h"):
++    # check for C11 or better, and __STDC__NO_ATOMICS__ is no defined
++    # before looking for stdatomic.h
++    if not config.CheckC11() and  not config.CheckCompilerDefines("__STDC_NO_ATOMICS__") and config.CheckHeader("stdatomic.h"):
+         confdefs.append("#define HAVE_STDATOMIC_H 1\n")
+     else:
+ 	confdefs.append("/* #undef HAVE_STDATOMIC_H */\n")
+-- 
+2.1.0
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0002-SConstruct-remove-rpath.patch b/recipes-navigation/gpsd/gpsd-3.14/0002-SConstruct-remove-rpath.patch
new file mode 100644
index 0000000..083a662
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0002-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-3.14/0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch b/recipes-navigation/gpsd/gpsd-3.14/0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch
new file mode 100644
index 0000000..8bb0928
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch
@@ -0,0 +1,26 @@
+From 674c50ee54fd7cd304e8b3c4b33d3ff1272ed191 Mon Sep 17 00:00:00 2001
+From: "Gary E. Miller" <gem@rellim.com>
+Date: Sun, 15 Mar 2015 12:17:51 -0700
+Subject: [PATCH 3/3] Whoops, check for C11, not for not C11 in stdatomic.h
+ test.
+
+---
+ SConstruct | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/SConstruct b/SConstruct
+index faa8651..f4ea145 100644
+--- a/SConstruct
++++ b/SConstruct
+@@ -650,7 +650,7 @@ else:
+ 
+     # check for C11 or better, and __STDC__NO_ATOMICS__ is no defined
+     # before looking for stdatomic.h
+-    if not config.CheckC11() and  not config.CheckCompilerDefines("__STDC_NO_ATOMICS__") and config.CheckHeader("stdatomic.h"):
++    if config.CheckC11() and  not config.CheckCompilerDefines("__STDC_NO_ATOMICS__") and config.CheckHeader("stdatomic.h"):
+         confdefs.append("#define HAVE_STDATOMIC_H 1\n")
+     else:
+ 	confdefs.append("/* #undef HAVE_STDATOMIC_H */\n")
+-- 
+2.1.0
+
diff --git a/recipes-navigation/gpsd/gpsd-3.14/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch b/recipes-navigation/gpsd/gpsd-3.14/0004-SConstruct-disable-html-and-man-docs-building-becaus.patch
new file mode 100644
index 0000000..8527f0d
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.14/0004-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-3.16.20161219/0001-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-3.16/0005-suppress-text-in-binary.patch b/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch
new file mode 100644
index 0000000..f338126
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.16/0005-suppress-text-in-binary.patch
@@ -0,0 +1,30 @@
+diff -u old/gpsctl.c new/gpsctl.c
+--- old/gpsctl.c	2017-01-03 15:57:50.517120891 -0600
++++ new/gpsctl.c	2017-01-03 18:31:21.421101434 -0600
+@@ -175,7 +175,7 @@
+     int option, status;
+     char *device = NULL, *devtype = NULL;
+     char *speed = NULL, *control = NULL, *rate = NULL;
+-    bool to_binary = false, to_nmea = false, reset = false;
++    bool to_binary = false, to_nmea = false, reset = false, control_string = false;
+     bool lowlevel=false, echo=false;
+     struct gps_data_t gpsdata;
+     const struct gps_type_t *forcetype = NULL;
+@@ -205,6 +205,7 @@
+ #ifdef CONTROLSEND_ENABLE
+ 	    control = optarg;
+ 	    lowlevel = true;
++	    control_string = true;
+ 	    if ((cooklen = hex_escapes(cooked, control)) <= 0) {
+ 		gpsd_log(&context.errout, LOG_ERROR,
+ 			 "invalid escape string (error %d)\n", (int)cooklen);
+@@ -704,7 +705,8 @@
+ 	    }
+ 	}
+ 
+-	(void)printf("%s identified as a %s at %u baud.\n",
++	if(!control_string)
++		(void)printf("%s identified as a %s at %u baud.\n",
+                        device, gpsd_id(&session),
+                        session.gpsdata.dev.baudrate);
+ 
diff --git a/recipes-navigation/gpsd/gpsd-3.7/udev.patch b/recipes-navigation/gpsd/gpsd-3.7/udev.patch
deleted file mode 100644
index fdc40cb..0000000
--- a/recipes-navigation/gpsd/gpsd-3.7/udev.patch
+++ /dev/null
@@ -1,41 +0,0 @@
-diff -uprN old/60-gpsd.rules new/60-gpsd.rules
---- old/60-gpsd.rules	2016-11-29 17:43:46.300653070 -0600
-+++ new/60-gpsd.rules	2016-11-29 17:47:39.540652577 -0600
-@@ -22,26 +22,26 @@
- SUBSYSTEM!="tty", GOTO="gpsd_rules_end"
- 
- # Prolific Technology, Inc. PL2303 Serial Port
--ATTR{idVendor}=="067b", ATTR{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="067b", ATTR{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # ATEN International Co., Ltd UC-232A Serial Port [pl2303]
--ATTR{idVendor}=="0557", ATTR{idProduct}=="2008", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="0557", ATTR{idProduct}=="2008", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # FTDI 8U232AM
--ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # Cypress M8/CY7C64013 (DeLorme uses these)
--ATTR{idVendor}=="1163", ATTR{idProduct}=="0100", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="1163", ATTR{idProduct}=="0100", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # PS-360 OEM (Microsoft GPS sold with Street and Trips 2005)
--ATTR{idVendor}=="067b", ATTR{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="067b", ATTR{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # Garmin International GPSmap, various models (tested with Garmin GPS 18 USB)
--ATTR{idVendor}=="091e", ATTR{idProduct}=="0003", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="091e", ATTR{idProduct}=="0003", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # Cygnal Integrated Products, Inc. CP210x Composite Device (Used by Holux m241)
--ATTR{idVendor}=="10c4", ATTR{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="10c4", ATTR{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # u-blox AG, u-blox 5 (tested with Navilock NL-402U)
--ATTR{idVendor}=="1546", ATTR{idProduct}=="01a5", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="1546", ATTR{idProduct}=="01a5", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # FTDI FT232
--ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- # u-blox 4
--ATTR{idVendor}=="1546", ATTR{idProduct}=="01a4", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ATTR{idVendor}=="1546", ATTR{idProduct}=="01a4", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
- 
--ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug.wrapper"
-+ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug"
- 
- LABEL="gpsd_rules_end"
diff --git a/recipes-navigation/gpsd/gpsd-machine-conf_1.0.bb b/recipes-navigation/gpsd/gpsd-machine-conf_1.0.bb
new file mode 100644
index 0000000..d2058ba
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-machine-conf_1.0.bb
@@ -0,0 +1,7 @@
+SUMMARY = "Machine specific gpsd config"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://${COREBASE}/meta/files/common-licenses/BSD;md5=3775480a712fc46a69647678acb234cb"
+
+# empty by default
+# BSP layers can add stuff like meta-openmoko example:
+#
diff --git a/recipes-navigation/gpsd/gpsd/Conduit.patch b/recipes-navigation/gpsd/gpsd/Conduit.patch
deleted file mode 100644
index 0fced15..0000000
--- a/recipes-navigation/gpsd/gpsd/Conduit.patch
+++ /dev/null
@@ -1,14 +0,0 @@
-diff -uprN old/gpsd new/gpsd
---- old/gpsd	2016-11-14 14:37:19.733762786 -0600
-+++ new/gpsd	2016-11-14 14:43:28.733762007 -0600
-@@ -93,6 +93,10 @@ do_reload() {
- 
- case "$1" in
-   start)
-+		if ! [[ -r /sys/devices/platform/mts-io/gnss-int ]] ; then
-+			echo "No GPS available"
-+			exit
-+		fi
- 		echo "Starting $DESC" "$NAME"
- 		do_start
- 		exit $?
diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd
new file mode 100755
index 0000000..857c561
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd
@@ -0,0 +1,174 @@
+#!/bin/sh
+### BEGIN INIT INFO
+# Provides:          gpsd
+# Required-Start:    $remote_fs $network
+# Should-Start:      bluetooth dbus udev
+# Required-Stop:     $remote_fs $network
+# Default-Start:     2 3 4 5
+# Default-Stop:      0 1 6
+# Short-Description: GPS (Global Positioning System) daemon start/stop script
+# Description:       Start/Stop script for the gpsd service daemon,
+#                    which is able to monitor one or more GPS devices
+#                    connected to a host computer, making all data on
+#                    the location and movements of the sensors available
+#                    to be queried on TCP port 2947.
+### END INIT INFO
+
+# Author: Bernd Zeimetz <bzed@debian.org>
+#
+# Please remove the "Author" lines above and replace them
+# with your own name if you copy and modify this script.
+
+# Do NOT "set -e"
+
+# PATH should only include /usr/* if it runs after the mountnfs.sh script
+PATH=/sbin:/usr/sbin:/bin:/usr/bin
+DESC="GPS (Global Positioning System) daemon"
+NAME=gpsd
+DAEMON=/usr/sbin/$NAME
+PIDFILE=/var/run/$NAME.pid
+SCRIPTNAME=/etc/init.d/$NAME
+
+# Read configuration, if present
+[ -r /etc/default/$NAME ] && . /etc/default/$NAME
+
+# Exit if no gps found
+([[ -n $GPS_LINE ]] && [[ -c $GPS_LINE ]]) || exit 0
+
+# Exit if the package is not installed
+[ -x "$DAEMON" ] || exit 0
+
+if [ -z "$GPSD_SOCKET" ] && [ -z "$DEVICES" ]; then
+	GPSD_SOCKET=/var/run/gpsd.sock
+fi
+
+if [ -n "$GPSD_SOCKET" ]; then
+        GPSD_OPTIONS="$GPSD_OPTIONS -F $GPSD_SOCKET"
+fi
+
+#
+# Function that starts the daemon/service
+#
+do_start()
+{
+	if ((GPSD_NOSTART != 0)) ; then
+		exit 0
+	fi
+	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON --test \
+        -- $GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES > /dev/null \
+		|| return 1
+	# Return
+	#   0 if daemon has been started
+	#   1 if daemon was already running
+	#   2 if daemon could not be started
+	# Set the baud rate.  Works better with ntp at a higher baud rate.
+	gpsctl -t 'u-blox' -s $GPS_BAUD -b  -f $GPS_LINE
+	# The next line is needed due to a bug in gpsctl.
+	# We will go back to the default baud rate if we don't do this step.
+	echo Expect a timeout error here.  Need this error.
+	gpsctl -T 2 -f $GPS_LINE
+	stty -F $GPS_LINE $GPS_BAUD
+	/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
+		$GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES \
+		|| return 2
+}
+
+#
+# Function that stops the daemon/service
+#
+do_stop()
+{
+	# Return
+	#   0 if daemon has been stopped
+	#   1 if daemon was already stopped
+	#   2 if daemon could not be stopped
+	#   other if a failure occurred
+	/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.
+	rm -f $PIDFILE
+	return "$RETVAL"
+}
+
+#
+# Function that sends a SIGHUP to the daemon/service
+#
+do_reload() {
+	#
+	# If the daemon can reload its configuration without
+	# restarting (for example, when it is sent a SIGHUP),
+	# then implement that here.
+	#
+	/usr/sbin/start-stop-daemon -N -20 --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME
+	return 0
+}
+
+do_status() {
+        NAME=$1
+        PIDFILE=$2
+        # -t: test only but not stop
+        start-stop-daemon -K -t --quiet --pidfile $PIDFILE --name $NAME
+        # exit with status 0 if process is found
+        if [ "$?" = "0" ]; then
+                return 0
+        else
+                return 1
+        fi
+}
+
+case "$1" in
+  start)
+		echo "Starting $DESC" "$NAME"
+		do_start
+		exit $?
+	;;
+  stop)
+	echo "Stopping $DESC" "$NAME"
+	do_stop
+	exit $?
+	;;
+  status)
+        echo -n "status $NAME ... "
+        do_status "$NAME" "$PIDFILE"
+        if [ "$?" = "0" ]; then
+                echo "running"
+                exit 0
+        else
+                echo "stopped"
+                exit 1
+        fi
+        ;;
+  *)
+        echo "Usage: $SCRIPTNAME {start|stop|status|restart|reload|force-reload}" >&2
+        ;;
+  reload|force-reload)
+	echo "Reloading $DESC" "$NAME"
+	do_reload
+	exit $?
+	;;
+  restart)
+	#
+	# If the "reload" option is implemented then remove the
+	# 'force-reload' alias
+	#
+	echo "Restarting $DESC" "$NAME"
+	do_stop
+	case "$?" in
+	  0|1)
+		do_start
+		exit $?
+		;;
+	  *)
+	 	# Failed to stop
+		exit 1
+		;;
+	esac
+	;;
+  *)
+	echo "Usage: $SCRIPTNAME {start|stop|status|restart|force-reload}" >&2
+	exit 3
+	;;
+esac
+
+:
diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
new file mode 100644
index 0000000..f9c1bec
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -0,0 +1,25 @@
+GPSD_SOCKET="/var/run/gpsd.sock"
+GPSD_OPTIONS="-n -D 1" 
+
+# Conduit 0.1 GPS devices
+GPS_LINE=/dev/ttyXRUSB2
+
+# Highest speed permitted by uBlox.
+GPS_BAUD=115200
+GPS_DEVICES="$GPS_LINE /dev/pps0"
+
+GPSD_NOSTART=0
+
+GPS_FIXFILE=/var/run/gpsfix
+
+# GPSD/UBlox Lock requiremnt
+# Create GPS_FIXFILE when reached.
+# UBlox NAV SOL (0x01 0x06) at gpsFix value
+# and above
+# 00 No Fix
+# 01 Dead reckoning only
+# 02 2D fix
+# 03 3D fix
+# 04 GPS + dead reckoning combined
+# 05 Time only fix
+GPSFIX="03 05"
diff --git a/recipes-navigation/gpsd/gpsd/gpsd.rules b/recipes-navigation/gpsd/gpsd/gpsd.rules
new file mode 100644
index 0000000..c314b54
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd.rules
@@ -0,0 +1,51 @@
+# udev rules for gpsd
+# $Id$
+#
+# GPSes don't have their own USB device class.  They're serial-over-USB
+# devices, so what you see is actually the ID of the serial-over-USB chip.
+# Fortunately, just two of these account for over 80% of consumer-grade
+# GPS sensors.  The gpsd.hotplug.wrapper script will tell a running gpsd
+# that it should look at the device that just went active, because it
+# might be a GPS.
+#
+# The following setup works on Debian - something similar will apply on 
+# other distributions:
+# 
+#   /etc/udev/gpsd.rules
+#   /etc/udev/rules.d/025_gpsd.rules -> ../gpsd.rules
+#   /lib/udev/gpsd.hotplug.wrapper
+#   /lib/udev/gpsd.hotplug
+# 
+# Setting the link in /etc/udev/rules.d activates the rule and determines
+# when to run it on boot (similar to init.d processing).
+
+SUBSYSTEM!="tty", GOTO="gpsd_rules_end"
+
+# Prolific Technology, Inc. PL2303 Serial Port
+ATTR{idVendor}=="067b", ATTR{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# ATEN International Co., Ltd UC-232A Serial Port [pl2303]
+ATTR{idVendor}=="0557", ATTR{idProduct}=="2008", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# FTDI 8U232AM
+ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# Cypress M8/CY7C64013 (DeLorme uses these)
+ATTR{idVendor}=="1163", ATTR{idProduct}=="0100", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# PS-360 OEM (Microsoft GPS sold with Street and Trips 2005)
+ATTR{idVendor}=="067b", ATTR{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# Garmin International GPSmap, various models (tested with Garmin GPS 18 USB)
+ATTR{idVendor}=="091e", ATTR{idProduct}=="0003", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# Cygnal Integrated Products, Inc. CP210x Composite Device (Used by Holux m241)
+ATTR{idVendor}=="10c4", ATTR{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# u-blox AG, u-blox 5 (tested with Navilock NL-402U)
+ATTR{idVendor}=="1546", ATTR{idProduct}=="01a5", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# FTDI FT232
+ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# u-blox 4
+ATTR{idVendor}=="1546", ATTR{idProduct}=="01a4", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+
+ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+
+KERNEL=="ttyXRUSB2", SYMLINK+="gps0"                                                                                                                                                 
+KERNEL=="pps0", OWNER="root", GROUP="tty", MODE="0660", SYMLINK+="gpspps0"                                                                                                           
+KERNEL=="ttyXRUSB2", RUN+="/bin/setserial -v /dev/%k low_latency                                                                                                                     
+
+LABEL="gpsd_rules_end"
diff --git a/recipes-navigation/gpsd/gpsd/gpsd.service b/recipes-navigation/gpsd/gpsd/gpsd.service
new file mode 100644
index 0000000..7131a58
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd.service
@@ -0,0 +1,10 @@
+[Unit]
+Description=GPS (Global Positioning System) Daemon
+Requires=gpsd.socket
+
+[Service]
+EnvironmentFile=/etc/default/gpsd
+ExecStart=/usr/sbin/gpsd -N $GPS_DEVICES
+
+[Install]
+Also=gpsd.socket
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
new file mode 100755
index 0000000..9fd3f7f
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
@@ -0,0 +1,142 @@
+#!/bin/bash
+# Fix file creation for U-Blox GPS.
+# If GPS reaches expected
+# fix level, file GSP_FIXFILE is created.
+# This is to know when to set the system
+# and hardware clock, and when 
+# it is safe to start ntp.
+if [[ -r /etc/default/gpsd ]] ; then
+  . /etc/default/gpsd
+else
+  echo "Must configure GPSD requirements"
+  exit 1
+fi
+UBXNAVSOL='b56201063400'
+UBXNAVSOLLEN=60
+
+function rm_gps_file
+{
+  if [[ -n "${GPS_FIXFILE}" ]] && [[ -f ${GPS_FIXFILE} ]] ; then
+    rm -f "${GPS_FIXFILE}"
+  fi
+}
+
+# Most exits are errors, so remove the GPS fix file.
+trap rm_gps_file EXIT
+
+if ! [[ -x /usr/bin/gpsmon ]] ; then
+  logger -p user.err "gpsd_ubx_3dfix.sh:  Please install gpsmon"
+  exit 0
+fi
+
+
+# Terminate gpsmon after 10 seconds if it is our child
+(
+  sleep 10
+  ppid=$$
+  # echo "looking for shell ${ppid}"
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper TERM found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"
+    kill ${gpsmonpid}
+  else
+    exit 0
+  fi
+  sleep 2
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper KILL found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"
+    kill -9 ${gpsmonpid}
+  fi
+) &
+  
+fix=""
+status=""
+
+# egrep in busybox has a horrible buffering issue.
+# echo My shell pid is $$
+# echo Place data fix, status
+stuff="$(gpsmon -a 2>&1 | {
+  OIFS=${IFS}
+  IFS=$'\n'
+  while read ln ; do
+    if [[ $ln =~ ^[[:space:]]*\(${UBXNAVSOLLEN}\)[[:space:]]*${UBXNAVSOL}....................(..)(.) ]] ; then
+      IFS=${OIFS} 
+      fix="${BASH_REMATCH[1]}"
+      if ((${#fix} == 0)) ; then
+	fix="unknown"
+      fi
+      status=$(echo "${BASH_REMATCH[2]}")
+      if ((${#status} == 0)) ; then
+	status="unknown"
+      fi
+      break;
+    fi
+    oldln="${ln}"
+  done
+  if ((${#fix})) && ((${#status})) ; then
+    echo "$fix,$status"
+  else
+    echo "${oldln}"
+  fi
+})"
+
+if ((${#stuff} == 0)) ; then
+  logger -p user.err No data from GPS
+  exit 1
+fi
+
+if [[ -t 1 ]] ; then
+  stty echo icanon
+fi
+
+OIFS=${IFS}
+IFS=,
+set $stuff
+fix="$1"
+status="$2"
+IFS=${OIFS}
+
+# fixOK is the least significant bit of a hex single digit
+case $status in
+  [13579bBdDfF])
+    ((fixOK=1))
+    ;;
+  [02468aAcCeE])
+    ((fixOK=0))
+    ;;
+  *)
+    logger -p user.err "Is GPSD running?"
+    logger -p user.err "FIX OK field should be single hex digit: gpsmon data: $stuff"
+    exit 1
+    break
+    ;;
+esac
+
+# echo "status is $status.  fixOK is $fixOK"
+
+
+if ((fixOK == 0)) ; then
+  logger -p user.err "Problem with the GPS fix.  The fix is an even value, \"$status\", and should be an odd value.  fixOK=${fixOK}"
+  exit 1
+  # Retry later.  How?
+fi
+
+# echo "fix is $fix.   Is it in $GPSFIX?"
+# Test the GPS fixOK
+for x in $GPSFIX ; do
+  # echo test $x with $fix
+  if [[ $x == $fix ]] ; then
+    logger user.info "GPS has fix $fix found in list GPSFIX: $GPSFIX"
+    echo $x >"${GPS_FIXFILE}"
+    GPS_FIXFILE=""
+    exit 0
+  fi
+done
+
+logger -p user.info "GPS fix is bad: $fix and should be one of: $GPSFIX"
+# Start later
+exit 1
+
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh
new file mode 100755
index 0000000..5644d57
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# PPS= 1484247472.29561104 clock= 1484247990.00000000 offset= 517.704388959
+
+trap "stty echo icanon" exit
+
+OIFS=$IFS
+IFS=$'\n'
+if ! /usr/sbin/gpsd_ubx_fixed ; then
+   logger -s -p user.warn "GPS does not have a fix yet.  Try again later."
+   exit 1
+fi
+# This shell script is shaped by two things:
+#   Lousy performance of sed and grep when used with gpsmon
+#   Need to terminate 
+# Terminate gpsmon after 10 seconds if it is our child          
+(                                                               
+  sleep 10                                                      
+  ppid=$$                                                       
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  if ((${#gpsmonpid})) ; then                                                                                                             
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"                                                                   
+    kill ${gpsmonpid}                                                                                                                     
+  else                                                                                                                                    
+    exit 0                                                                                                                                
+  fi                                                                                                                                      
+  sleep 2                                                                                                                                 
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  if ((${#gpsmonpid})) ; then                                                                                                             
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"                                                                   
+    kill -9 ${gpsmonpid}                                                                                                                  
+  fi                                                                                                                                      
+) &                                                                                                                                       
+                    
+                    
+epoch=$(gpsmon -a 2>&1 | ( while read ln ; do
+	if [[ $ln =~ ^[[:space:]]*PPS=.*clock=[[:space:]]*([0-9]*)\. ]] ; then
+		echo ${BASH_REMATCH[1]}
+		break
+	fi
+done ))
+if [[ $epoch =~ ^[0-9]+$ ]] ; then
+  date +%s -s @${epoch} >/dev/null
+else
+  logger user.err "gpsmon output is bad."
+  exit 1
+fi
+exit 0
diff --git a/recipes-navigation/gpsd/gpsd_3.14.bb b/recipes-navigation/gpsd/gpsd_3.14.bb
new file mode 100644
index 0000000..7988a11
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd_3.14.bb
@@ -0,0 +1,146 @@
+SUMMARY = "A TCP/IP Daemon simplifying the communication with GPS devices"
+SECTION = "console/network"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://COPYING;md5=d217a23f408e91c94359447735bc1800"
+DEPENDS = "dbus dbus-glib ncurses python libusb1 chrpath-replacement-native pps-tools"
+PROVIDES = "virtual/gpsd"
+
+EXTRANATIVEPATH += "chrpath-native"
+
+SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
+    file://0001-SConstruct-respect-sysroot-also-in-SPLINTOPTS.patch \
+    file://0002-SConstruct-remove-rpath.patch \
+    file://0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch \
+    file://0004-SConstruct-disable-html-and-man-docs-building-becaus.patch \
+    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 \
+    file://0001-include-sys-ttydefaults.h.patch \
+    file://gpsd-default \
+    file://gpsd \
+    file://60-gpsd.rules \
+    file://gpsd.service \
+"
+SRC_URI[md5sum] = "bc7467009b99e07ba461377b5da6c039"
+SRC_URI[sha256sum] = "504fc812f3c1525a1a48e04bf4d77f9a8066c201448d98089df89d58ef53a8cb"
+
+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}' \
+    ${PACKAGECONFIG_CONFARGS} \
+"
+# this cannot be used, because then chrpath is not found and only static lib is built
+# target=${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_3.16.20161219.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..7e573f8
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd_3.16.bb
@@ -0,0 +1,159 @@
+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"
+PR="m1"
+
+EXTRANATIVEPATH += "chrpath-native"
+
+#    file://0002-SConstruct-remove-rpath.patch
+SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
+    file://0001-SConstruct-prefix-includepy-with-sysroot-and-drop-sy.patch \
+    file://0004-SConstruct-disable-html-and-man-docs-building-becaus.patch \
+    file://0001-include-sys-ttydefaults.h.patch \
+    file://0005-suppress-text-in-binary.patch \
+    file://gpsd-default \
+    file://gpsd \
+    file://gpsd_ubx_fixed.sh \
+    file://gpsd_ubx_settime.sh \
+    file://gpsd.rules \
+    file://gpsd.service \
+"
+# Fixed
+#    file://0001-Check-for-__STDC_NO_ATOMICS__-before-using-stdatomic.patch
+#    file://0002-Add-a-test-for-C11-and-check-we-have-C11-before-usin.patch
+#    file://0003-Whoops-check-for-C11-not-for-not-C11-in-stdatomic.h-.patch
+#    file://0001-Include-stdatomic.h-only-in-C-mode.patch
+#    file://0001-libgpsd-core-Fix-issue-with-ACTIVATE-hook-not-being-.patch
+
+SRC_URI[md5sum] = "68691b5de4c94f82ec4062b042b5eb63"
+SRC_URI[sha256sum] = "03579af13a4d3fe0c5b79fa44b5f75c9f3cac6749357f1d99ce5d38c09bc2029"
+
+
+inherit scons update-rc.d python-dir pythonnative systemd
+
+INITSCRIPT_NAME = "gpsd"
+INITSCRIPT_PARAMS = "defaults 10"
+
+SYSTEMD_OESCONS = "${@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
+    install -d ${D}${sbindir}
+    install -m 0755 ${WORKDIR}/gpsd_ubx_fixed.sh ${D}${sbindir}/gpsd_ubx_fixed
+    install -m 0755 ${WORKDIR}/gpsd_ubx_settime.sh ${D}${sbindir}/gpsd_ubx_settime
+
+    #support for udev
+    install -d ${D}/${sysconfdir}/udev/rules.d
+    install -m 0644 ${WORKDIR}/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} ${sbindir}/gpsd_ubx_fixed ${sbindir}/gpsd_ubx_settime"
+CONFFILES_gpsd-conf = "${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} = "${PN}.socket"
diff --git a/recipes-navigation/gpsd/gpsd_3.7.bbappend b/recipes-navigation/gpsd/gpsd_3.7.bbappend
deleted file mode 100644
index 8081b6f..0000000
--- a/recipes-navigation/gpsd/gpsd_3.7.bbappend
+++ /dev/null
@@ -1,12 +0,0 @@
-PR .= ".mlinux1"
-
-SRC_URI += " file://Conduit.patch;patchdir=.. \
-	     file://udev.patch;patchdir=.. \
-		"
-FILESEXTRAPATHS_prepend := "${THISDIR}/${PN}-${PV}:${THISDIR}/${PN}"
-
-python do_patch_prepend () {
-    import os
-    cwd = os.getcwd()
-    bb.note("Hello %s",cwd)
-}
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..691d039
--- /dev/null
+++ b/recipes-support/ntp/files/ntp.conf.patch
@@ -0,0 +1,52 @@
+diff -Naur old/ntp.conf new/ntp.conf
+--- old/ntp.conf	2017-01-17 12:00:15.560426583 -0600
++++ new/ntp.conf	2017-01-17 12:02:11.968426337 -0600
+@@ -1,16 +1,44 @@
+-# 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
+-# only against the local system clock.
+ #
+ # server time.server.example.com
+ #
++
++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)
++# This sets the GPS 80 milliseconds slower than the PPS.
++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-default b/recipes-support/ntp/files/ntpd-default
new file mode 100644
index 0000000..4811f46
--- /dev/null
+++ b/recipes-support/ntp/files/ntpd-default
@@ -0,0 +1,31 @@
+# The GPSD_* parameters in this file are ignored
+# if the uBlox GPS is not present.
+
+# Require a GPS lock/fix before starting NTP
+# This is needed if we are not using NTP servers.
+# NTP will not work with the GPS if  the GPS is not
+# locked before starting.
+# See /etc/default/gpsd for the states required.
+GPSD_REQUIRED=1
+
+# Number of seconds between testing for a GPS
+# lock prior to calling ntpd.
+GPSD_WAIT_TIME=120
+
+# Since the HW Clock could be off by a second or
+# so, our GPS might get marked as a false ticker
+# if we do not set the system clock to the GPS
+# first.  The current correct way to do this
+# according to the ntp doc is ntpd -gq -c conffile
+# which must be done before ntpd is started.
+# conffile should exclude the local clock, so it is
+# ignored while doing the initial sync.
+# ntpd -gq apparently does not work with the GPS
+# when tested with the clock more than one day off
+# and no ntpd.  The gps shared memory is never polled.
+#
+# If there is a uBlox GPS present, the time is
+# read from the GPS to initialize the system time
+# before NTP is started.
+SET_SYSTEM_CLOCK=1
+
diff --git a/recipes-support/ntp/files/ntpd-init.patch b/recipes-support/ntp/files/ntpd-init.patch
new file mode 100644
index 0000000..05a6a8e
--- /dev/null
+++ b/recipes-support/ntp/files/ntpd-init.patch
@@ -0,0 +1,52 @@
+--- old/ntpd	2017-01-12 18:10:40.208157197 -0600
++++ new/ntpd	2017-01-12 18:14:27.952154318 -0600
+@@ -1,6 +1,8 @@
+-#! /bin/sh
++#! /bin/bash
+ #
++. /etc/default/ntpd
+ PATH=/sbin:/bin:/usr/bin:/usr/sbin
++GNSSRST=/sys/devices/platform/mts-io/gnss-reset
+ 
+ # ntpd	init.d script for ntpdc from ntp.isc.org
+ test -x /usr/sbin/ntpd -a -r /etc/ntp.conf || exit 0
+@@ -18,13 +20,32 @@
+ 	}
+ }
+ startdaemon(){
+-	# The -g option allows ntpd to step the time to correct it just
+-	# once.  The daemon will exit if the clock drifts too much after
+-	# 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 "$@"
+-	echo "done"
++	/usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd --test -- -u ntp:ntp -p /var/run/ntp.pid "$@" \
++	  || return 1
++	if ((GPSD_REQUIRED == 1)) && [[ -L /dev/gps0 ]] && [[ -f "${GNSSRST}" ]]; then
++		. /etc/default/gpsd
++		# Could not get ntpd -gq to work with the GPS. 
++		# So read the GPS time directly and set the system
++		# clock.
++		if ((SET_SYSTEM_CLOCK == 1)) && /usr/sbin/gpsd_ubx_settime ; then
++		   # System time set by the GPS.
++		   /usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
++		else
++		  # Need a GPS fix before startint ntp.
++		  /usr/sbin/start-stop-daemon -b -n z1e9d3qb -N -20 --start -x /bin/bash -- -c "sleep $GPSD_WAIT_TIME;/etc/init.d/ntpd start"
++		fi
++	else
++	  if ((SET_SYSTEM_CLOCK == 1)) ; then
++	    ntpd -gq
++	    shift
++	  fi
++
++	  # The -g option allows ntpd to step the time to correct it just
++	  # once.  The daemon will exit if the clock drifts too much after
++	  # this.  If ntpd seems to disappear after a while assume TICKADJ
++	  # above is set to a totally incorrect value.
++	  /usr/sbin/start-stop-daemon -N -20 --start -x /usr/sbin/ntpd -- -u ntp:ntp -p /var/run/ntp.pid "$@"
++	fi
+ }
+ stopdaemon(){
+ 	echo -n "Stopping ntpd: "
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..b656256
--- /dev/null
+++ b/recipes-support/ntp/ntp_4.2.6p5.bbappend
@@ -0,0 +1,46 @@
+PR .= ".mlinux1"
+
+SRC_URI += " file://ntpd-init.patch;patchdir=.. \
+             file://ntp.conf.patch;patchdir=.. \
+             file://ntpd-default \
+		"
+FILESEXTRAPATHS_prepend := "${THISDIR}/files"
+
+python do_patch_prepend () {
+    import os
+}
+pkg_postinst_${PN} () {
+    sdir=/var/log/ntpstats
+    if ! [[ -d ${sdir} ]] ; then
+	mkdir -p ${sdir}
+    fi
+    chown ntp:ntp ${sdir}
+    chmod 775 ${sdir}
+
+    drdir=/var/lib/ntp
+    if ! [[ -d ${drdir} ]] ; then
+	mkdir -p ${drdir}
+    fi
+    drfile="${drdir}/ntp.drift"
+    touch ${drfile}
+    chmod 664 ${drfile}
+    chown -R ntp:ntp ${drdir}
+}
+
+
+do_install_prepend() {
+    echo JAK In do_install_append in directory $(pwd), and D is ${D}
+    echo JAK In do_install_append sysconfdir is ${sysconfdir}
+    install -d ${D}${sysconfdir}/default
+    install -m 0644 ${WORKDIR}/ntpd-default ${D}${sysconfdir}/default/ntpd.default
+    echo JAK In do_install_append default is $(ls ${D}cd${sysconfdir}/default/ntpd.default)
+}
+pkg_postinst_${PN}() {
+    update-alternatives --install ${sysconfdir}/default/ntpd ntpd-defaults ${sysconfdir}/default/ntpd.default 10
+}
+
+pkg_postrm_${PN}() {
+    update-alternatives --remove ntpd-defaults ${sysconfdir}/default/ntpd.default
+}
+FILES_${PN} += "${sysconfdir}/default/ntpd.default"
+CONFFILES_${PN} += "${sysconfdir}/default/ntpd.default"