diff --git a/.gitmodules b/.gitmodules
index 6a4f815d42..b05de95995 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,9 +4,9 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "uavcan"]
+[submodule "libuavcan"]
 	path = src/lib/uavcan
-	url = git://github.com/pavel-kirienko/uavcan.git
+	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
diff --git a/Tools/generate_listener.py b/Tools/generate_listener.py
index 5cfe4a6281..4e5b8ab088 100755
--- a/Tools/generate_listener.py
+++ b/Tools/generate_listener.py
@@ -38,8 +38,7 @@ for index,m in enumerate(raw_messages):
 
 num_messages = len(messages);
 
-print
-print """
+print("""
 
 /****************************************************************************
  *
@@ -93,12 +92,12 @@ print """
 #include <stdint.h>
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
-"""
+""")
 for m in messages:
-	print "#include <uORB/topics/%s.h>" % m
+	print("#include <uORB/topics/%s.h>" % m)
 
 
-print """
+print("""
 extern "C" __EXPORT int listener_main(int argc, char *argv[]);
 
 int listener_main(int argc, char *argv[]) {
@@ -108,45 +107,45 @@ int listener_main(int argc, char *argv[]) {
 		printf("need at least two arguments: topic name, number of messages to print\\n");
 		return 1;
 	}
-"""
-print "\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);"
-print "\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0]
-print "\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0]
-print "\t\tID = ORB_ID(%s);" % messages[0]
-print "\t\tstruct %s_s container;" % messages[0]
-print "\t\tmemset(&container, 0, sizeof(container));"
+""")
+print("\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);")
+print("\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0])
+print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
+print("\t\tID = ORB_ID(%s);" % messages[0])
+print("\t\tstruct %s_s container;" % messages[0])
+print("\t\tmemset(&container, 0, sizeof(container));")
 for index,m in enumerate(messages[1:]):
-	print "\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m
-	print "\t\tsub = orb_subscribe(ORB_ID(%s));" % m
-	print "\t\tID = ORB_ID(%s);" % m
-	print "\t\tstruct %s_s container;" % m
-	print "\t\tmemset(&container, 0, sizeof(container));"
-	print "\t\tbool updated;"
-	print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {"
-	print "\t\t\torb_check(sub,&updated);"
-	print "\t\t\tupdated = true;"
-	print "\t\t\tif(updated) {"
-	print "\t\t\torb_copy(ID,sub,&container);"
+	print("\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m)
+	print("\t\tsub = orb_subscribe(ORB_ID(%s));" % m)
+	print("\t\tID = ORB_ID(%s);" % m)
+	print("\t\tstruct %s_s container;" % m)
+	print("\t\tmemset(&container, 0, sizeof(container));")
+	print("\t\tbool updated;")
+	print("\t\tfor(uint32_t i = 0;i<num_msgs;i++) {")
+	print("\t\t\torb_check(sub,&updated);")
+	print("\t\t\tupdated = true;")
+	print("\t\t\tif(updated) {")
+	print("\t\t\torb_copy(ID,sub,&container);")
 	for item in message_elements[index+1]:
 		if item[0] == "float":
-			print "\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1])
+			print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
 		elif item[0] == "float_array":
-			print "\t\t\tprintf(\"%s:\");" % item[1]
-			print "\t\t\tfor (int j=0;j<%d;j++) {" % item[2]
-			print "\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1]
-			print "\t\t\t}"
-			print "\t\t\tprintf(\"\\n\");"
+			print("\t\t\tprintf(\"%s:\");" % item[1])
+			print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2])
+			print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
+			print("\t\t\t}")
+			print("\t\t\tprintf(\"\\n\");")
 		elif item[0] == "uint64":
-			print "\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1])
+			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
 		elif item[0] == "uint8":
-			print "\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1])
+			print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":
-			print "\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1])
-	print "\t\t\t}"
-	print "\t\t}"
-print "\t} else {"
-print "\t\t printf(\" Topic did not match any known topics\\n\");"
-print "\t}"
+			print("\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
+	print("\t\t\t}")
+	print("\t\t}")
+print("\t} else {")
+print("\t\t printf(\" Topic did not match any known topics\\n\");")
+print("\t}")
 print("\t return 0;")
 
-print "}"
+print("}")
diff --git a/Tools/posix_apps.py b/Tools/posix_apps.py
index 1dfca71e27..45837f1e8e 100755
--- a/Tools/posix_apps.py
+++ b/Tools/posix_apps.py
@@ -39,8 +39,7 @@ apps = []
 for f in builtins:
 	apps.append(f.split(".")[-1].split("_main")[0])
 
-print
-print """
+print("""
 #include <string>
 #include <map>
 
@@ -55,11 +54,11 @@ using namespace std;
 extern void px4_show_devices(void);
 
 extern "C" {
-"""
+""")
 for app in apps:
-	print "extern int "+app+"_main(int argc, char *argv[]);"
+	print("extern int "+app+"_main(int argc, char *argv[]);")
 
-print """
+print("""
 static int shutdown_main(int argc, char *argv[]);
 static int list_tasks_main(int argc, char *argv[]);
 static int list_files_main(int argc, char *argv[]);
@@ -74,17 +73,17 @@ static map<string,px4_main_t> app_map(void);
 static map<string,px4_main_t> app_map(void)
 {
 	static map<string,px4_main_t> apps;
-"""
+""")
 for app in apps:
-	print '\tapps["'+app+'"] = '+app+'_main;'
+	print('\tapps["'+app+'"] = '+app+'_main;')
 
-print '\tapps["shutdown"] = shutdown_main;'
-print '\tapps["list_tasks"] = list_tasks_main;'
-print '\tapps["list_files"] = list_files_main;'
-print '\tapps["list_devices"] = list_devices_main;'
-print '\tapps["list_topics"] = list_topics_main;'
-print '\tapps["sleep"] = sleep_main;'
-print """
+print('\tapps["shutdown"] = shutdown_main;')
+print('\tapps["list_tasks"] = list_tasks_main;')
+print('\tapps["list_files"] = list_files_main;')
+print('\tapps["list_devices"] = list_devices_main;')
+print('\tapps["list_topics"] = list_topics_main;')
+print('\tapps["sleep"] = sleep_main;'
+print("""
 	return apps;
 }
 
@@ -134,5 +133,5 @@ static int sleep_main(int argc, char *argv[])
 	sleep(atoi(argv[1]));
 	return 0;
 }
-"""
+""")