diff --git a/.coveralls.yml b/.coveralls.yml
new file mode 100644
index 0000000..e69de29
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..32ffafc
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,41 @@
+sudo: false
+
+language: rust
+
+os:
+- linux
+
+rust:
+- nightly
+- beta
+- stable
+
+addons:
+  apt:
+    packages:
+    - libcurl4-openssl-dev
+    - libelf-dev
+    - libdw-dev
+    - binutils-dev
+
+before_script:
+- pip install -v 'travis-cargo<0.2' --user
+- if [[ -e ~/.local/bin ]]; then export PATH=~/.local/bin:$PATH; fi
+- echo PATH is $PATH
+- export SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt
+
+script:
+- |
+  travis-cargo build &&
+  travis-cargo test &&
+  travis-cargo bench &&
+  travis-cargo --only stable doc
+
+after_success:
+- travis-cargo --only stable doc-upload
+- travis-cargo coveralls --no-sudo --verify
+- if [[ "$TRAVIS_RUST_VERSION" == "nightly" ]]; then KCOV=./kcov/build/src/kcov ./coverage; fi
+
+env:
+  global:
+  - TRAVIS_CARGO_NIGHTLY_FEATURE=nightly
diff --git a/Cargo.lock b/Cargo.lock
index 47c1263..6c920c6 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,8 +2,8 @@
 name = "mpu9150"
 version = "0.1.0"
 dependencies = [
- "byteorder 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
- "i2cdev 0.2.0 (git+https://github.com/rust-embedded/rust-i2cdev.git)",
+ "byteorder 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "i2cdev 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -23,31 +23,114 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "byteorder"
-version = "0.5.1"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "cfg-if"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "getopts"
+version = "0.2.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "i2cdev"
-version = "0.2.0"
-source = "git+https://github.com/rust-embedded/rust-i2cdev.git#b75b6df919897654eccd59cc8f2dd3a3947e83dc"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
  "bitflags 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "byteorder 0.4.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "libc 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
- "nix 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.17 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nix 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "skeptic 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
 name = "libc"
-version = "0.2.8"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "nix"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
  "bitflags 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "libc 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cfg-if 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.17 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rustc_version 0.1.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "semver 0.1.20 (registry+https://github.com/rust-lang/crates.io-index)",
+ "void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "pulldown-cmark"
+version = "0.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "getopts 0.2.14 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand"
+version = "0.3.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "libc 0.2.17 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "semver 0.1.20 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "semver"
+version = "0.1.20"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "skeptic"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "pulldown-cmark 0.0.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "tempdir 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "tempdir"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[metadata]
+"checksum bitflags 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "8dead7461c1127cf637931a1e50934eb6eee8bff2f74433ac7909e9afcee04a3"
+"checksum bitflags 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "4f67931368edf3a9a51d29886d245f1c3db2f1ef0dcc9e35ff70341b78c10d23"
+"checksum byteorder 0.4.2 (registry+https://github.com/rust-lang/crates.io-index)" = "96c8b41881888cc08af32d47ac4edd52bc7fa27fef774be47a92443756451304"
+"checksum byteorder 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)" = "0fc10e8cc6b2580fda3f36eb6dc5316657f812a3df879a44a66fc9f0fdbc4855"
+"checksum cfg-if 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "de1e760d7b6535af4241fca8bd8adf68e2e7edacc6b29f5d399050c5e48cf88c"
+"checksum getopts 0.2.14 (registry+https://github.com/rust-lang/crates.io-index)" = "d9047cfbd08a437050b363d35ef160452c5fe8ea5187ae0a624708c91581d685"
+"checksum i2cdev 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d202d2e722bc94a27fe8510f171e092fd5f588069ea162feaa2f5cbe286e8fc"
+"checksum libc 0.2.17 (registry+https://github.com/rust-lang/crates.io-index)" = "044d1360593a78f5c8e5e710beccdc24ab71d1f01bc19a29bcacdba22e8475d8"
+"checksum nix 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "7a7bb1da2be7da3cbffda73fc681d509ffd9e665af478d2bee1907cee0bc64b2"
+"checksum pulldown-cmark 0.0.3 (registry+https://github.com/rust-lang/crates.io-index)" = "8361e81576d2e02643b04950e487ec172b687180da65c731c03cf336784e6c07"
+"checksum rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)" = "022e0636ec2519ddae48154b028864bdce4eaf7d35226ab8e65c611be97b189d"
+"checksum rustc_version 0.1.7 (registry+https://github.com/rust-lang/crates.io-index)" = "c5f5376ea5e30ce23c03eb77cbe4962b988deead10910c372b226388b594c084"
+"checksum semver 0.1.20 (registry+https://github.com/rust-lang/crates.io-index)" = "d4f410fedcf71af0345d7607d246e7ad15faaadd49d240ee3b24e5dc21a820ac"
+"checksum skeptic 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "061203a849117b0f7090baf8157aa91dac30545208fbb85166ac58b4ca33d89c"
+"checksum tempdir 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)" = "87974a6f5c1dfb344d733055601650059a3363de2a6104819293baff662132d6"
+"checksum void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
diff --git a/Cargo.toml b/Cargo.toml
index d027b2f..de7fc35 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -4,5 +4,8 @@ version = "0.1.0"
 authors = ["jamey <jamey@minilop.net>"]
 
 [dependencies]
-i2cdev = { git = "https://github.com/rust-embedded/rust-i2cdev.git" }
+i2cdev = "0.3.1"
 byteorder = "0.5"
+
+[features]
+nightly = []
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..cba427f
--- /dev/null
+++ b/README.md
@@ -0,0 +1,5 @@
+# `av4-fc`
+
+[![Build Status](https://travis-ci.org/psas/av4-fc.png?branch=master)](https://travis-ci.org/psas/av4-fc) [![Coverage Status](https://coveralls.io/repos/github/psas/av4-fc/badge.svg?branch=master)](https://coveralls.io/github/psas/av4-fc?branch=master)
+
+Flight controller.
diff --git a/coverage b/coverage
new file mode 100755
index 0000000..1de0358
--- /dev/null
+++ b/coverage
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+#
+# Usage:
+#     ./coverage
+#
+# Run kcov on the tests, and merge the results.
+#
+# Environment variables:
+# TRAVIS_JOB_ID - id for coveralls, defaults to none
+# KCOV - path to kcov, defaults to 'kcov'
+
+[ -n "$TRAVIS_JOB_ID" ] && COVERALLS_ID="--coveralls-id=$TRAVIS_JOB_ID"
+[ -z "$KCOV" ] && KCOV=kcov
+
+# Rebuild tests with dead code included, and get a list of the filenames.
+export RUSTFLAGS="-C link-dead-code"
+TEST_FILES=$(cargo test 2>&1 >/dev/null | awk '/^     Running target\/debug\// { print $2 }')
+
+KCOV_OPTS="--verify --exclude-pattern=/.cargo"
+OUT_DIR=target/kcov
+
+for f in $TEST_FILES; do
+	"$KCOV" $KCOV_OPTS "$OUT_DIR" $f
+done
+"$KCOV" --merge $KCOV_OPTS $COVERALLS_ID "$OUT_DIR" "$OUT_DIR"
+