diff --git a/sensors/gps/GPSData.h b/sensors/gps/GPSData.h
new file mode 100644
index 0000000..cf98ca6
--- /dev/null
+++ b/sensors/gps/GPSData.h
@@ -0,0 +1,26 @@
+#ifndef GPSDATA_H
+#define GPSDATA_H
+
+#include "../../data/Timestamp.h"
+
+struct GPSData {
+
+	/** time this measurement was received (NOT the GPS-time) */
+	Timestamp tsReceived;
+
+	float lat;			// deg
+	float lon;			// deg
+	float alt;			// m above sea-level
+
+	float accuracy;		// m [might be NAN]
+	float speed;		// m/s [might be NAN]
+
+	GPSData() : ts(), lat(NAN), lon(NAN), alt(NAN), accuracy(NAN), speed(NAN) {;}
+
+	GPSData(const Timestamp ts, const float lat, const float lon, const float alt) : ts(ts), lat(lat), lon(lon), alt(alt), accuracy(NAN), speed(NAN)  {;}
+
+	GPSData(const Timestamp ts, const float lat, const float lon, const float alt, const float accuracy) : ts(ts), lat(lat), lon(lon), alt(alt), accuracy(accuracy), speed(NAN)  {;}
+
+};
+
+#endif // GPSDATA_H
diff --git a/tests/data/MapStairs.xml b/tests/data/MapStairs.xml
new file mode 100644
index 0000000..6df0b55
--- /dev/null
+++ b/tests/data/MapStairs.xml
@@ -0,0 +1,63 @@
+<map width="70" depth="50">
+    <floors>
+        <floor atHeight="0" height="4" name="0. Stock">
+            <outline>
+                <polygon name="new" method="0">
+                    <point x="0" y="0"/>
+                    <point x="0" y="17"/>
+                    <point x="25" y="17"/>
+                    <point x="25" y="0"/>
+                </polygon>
+            </outline>
+            <obstacles/>
+            <underlays/>
+            <pois/>
+            <accesspoints/>
+            <beacons/>
+            <stairs>
+                <stair type="0">
+                    <part connect="0" x1="8.2000046" y1="11.400002" z1="0" x2="6.7000051" y2="12.900002" z2="1" w="1.4"/>
+                    <part connect="0" x1="6.7000051" y1="13.900002" z1="1" x2="5.7000051" y2="12.900002" z2="1" w="1.4"/>
+                    <part connect="0" x1="5.7000051" y1="12.900002" z1="1" x2="4.3000031" y2="11.5" z2="2" w="1.4"/>
+                    <part connect="0" x1="3.3000031" y1="11.5" z1="2" x2="4.3000031" y2="10.5" z2="2" w="1.4"/>
+                    <part connect="0" x1="4.3000031" y1="10.5" z1="2" x2="5.8000031" y2="9" z2="3" w="1.4"/>
+                    <part connect="0" x1="5.8000031" y1="9" z1="3" x2="6.8000031" y2="8" z2="3" w="1.4"/>
+                    <part connect="0" x1="6.8000031" y1="9" z1="3" x2="8.2000046" y2="10.400002" z2="4" w="1.4"/>
+                </stair>
+                <stair type="0">
+                    <part connect="0" x1="15" y1="3" z1="0" x2="16.200001" y2="4.2000003" z2="0.5" w="3"/>
+                    <part connect="0" x1="16" y1="4" z1="1" x2="17.6" y2="5" z2="1" w="3"/>
+                    <part connect="0" x1="17.4" y1="4.8000002" z1="2" x2="19" y2="5.4000001" z2="2" w="3"/>
+                    <part connect="0" x1="18.6" y1="5.2000003" z1="3" x2="20.200001" y2="5.5999999" z2="3" w="3"/>
+                    <part connect="0" x1="20" y1="5.5999999" z1="3.5" x2="21.6" y2="5.8000002" z2="4" w="3"/>
+                </stair>
+                <stair type="0">
+                    <part connect="0" x1="6" y1="3" z1="0" x2="7" y2="4.4000001" z2="1" w="1"/>
+                    <part connect="0" x1="6.8000002" y1="4.2000003" z1="1" x2="8.1999998" y2="5" z2="2" w="1"/>
+                    <part connect="0" x1="8" y1="4.9000001" z1="2" x2="9.9000006" y2="5.4000001" z2="3" w="1"/>
+                    <part connect="0" x1="9.6999998" y1="5.3000002" z1="3" x2="11.400001" y2="5.4000001" z2="4" w="1"/>
+                </stair>
+            </stairs>
+            <elevators>
+                <elevator cx="20" cy="10" width="2.3" depth="2" rotation="1.5707964"/>
+            </elevators>
+        </floor>
+        <floor atHeight="4" height="4" name="1. Stock">
+            <outline>
+                <polygon name="new" method="0">
+                    <point x="0" y="0"/>
+                    <point x="0" y="17"/>
+                    <point x="25" y="17"/>
+                    <point x="25" y="0"/>
+                </polygon>
+            </outline>
+            <obstacles/>
+            <underlays/>
+            <pois/>
+            <accesspoints/>
+            <beacons/>
+            <stairs/>
+            <elevators/>
+        </floor>
+    </floors>
+</map>
diff --git a/tests/data/barometer/baro1.dat b/tests/data/barometer/baro1.dat
new file mode 100644
index 0000000..751d2ec
--- /dev/null
+++ b/tests/data/barometer/baro1.dat
@@ -0,0 +1,6112 @@
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