diff --git a/.gitignore b/.gitignore
index c453432f78..881396fa2f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,3 +49,4 @@ unittests/build
 *.pretty
 xcode
 src/platforms/linux/px4_messages/
+src/systemcmds/topic_listener.cpp
diff --git a/Tools/generate_listener.py b/Tools/generate_listener.py
new file mode 100644
index 0000000000..3fa4ea476f
--- /dev/null
+++ b/Tools/generate_listener.py
@@ -0,0 +1,112 @@
+#!/usr/bin/python
+
+import glob
+
+raw_messages = glob.glob("../msg/*.msg")
+messages = []
+message_floats = []
+
+
+for index,m in enumerate(raw_messages):
+	temp_list = []
+	if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
+		f = open(m,'r')
+		for line in f.readlines():
+			if(line.split(' ')[0] == "float32"):
+				temp_list.append(line.split(' ')[1].split('\t')[0].split('\n')[0])
+		f.close()
+		messages.append(m.split('/')[-1].split('.')[0])
+		message_floats.append(temp_list)
+num_messages = len(messages);
+
+print
+print """
+
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
+ *
+ * Tool for listening to topics when running flight stack on linux.
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include <px4_config.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <sstream>
+#include <vector>
+#include <cstring>
+#include <uORB/uORB.h>
+#include <string.h>
+"""
+for m in messages:
+	print "#include <uORB/topics/%s.h>" % m
+
+
+print """
+extern "C" __EXPORT int listener_main(int argc, char *argv[]);
+
+int listener_main(int argc, char *argv[]) {
+	int sub = -1;
+	orb_id_t ID;
+	if(argc < 3) {
+		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));"
+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\tfor(uint32_t i = 0;i<num_msgs;i++) {"
+	print "\t\t\torb_copy(ID,sub,&container);"
+	for item in message_floats[index+1]:
+		print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item, item)
+	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 "}"
diff --git a/makefiles/posix/config_posix_default.mk b/makefiles/posix/config_posix_default.mk
index 53b3153468..7205371819 100644
--- a/makefiles/posix/config_posix_default.mk
+++ b/makefiles/posix/config_posix_default.mk
@@ -16,6 +16,7 @@ MODULES		+= modules/sensors
 # System commands
 #
 MODULES	+= systemcmds/param
+MODULES += systemcmds/topic_listener
 
 #
 # General system control
diff --git a/src/systemcmds/topic_listener/module.mk b/src/systemcmds/topic_listener/module.mk
new file mode 100644
index 0000000000..ea54c3e9e5
--- /dev/null
+++ b/src/systemcmds/topic_listener/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the topic listener tool.
+#
+
+MODULE_COMMAND	 = listener
+SRCS		 = topic_listener.cpp
+
+MODULE_STACKSIZE = 1800
+
+MAXOPTIMIZATION	 = -Os