diff --git a/mavros/400949c/400949c.bug b/mavros/400949c/400949c.bug
index d3ef6a58..10dfdabe 100644
--- a/mavros/400949c/400949c.bug
+++ b/mavros/400949c/400949c.bug
@@ -3,18 +3,18 @@
 id: 400949c
 title: Segmentation fault due to incorrect resource sharing between threads
 description: >
-     MAVROS (asynchronously) runs its TCP, UDP, and serial connection
-     services using dedicated threads.  The "utils::set_thread_name"
-     function is used to assign appropriate names to each of those
-     threads (e.g., "MAVConnTCPs981"). "utils::set_thread_name"
-     accepts an std::thread instance and a string, and attempts to
-     assign the name given by the string to the thread using
-     "pthread_setname_np". However, a segmentation fault occurs when
-     the faulty program is run. This is due to the std::thread
-     instance, "t", being incorrectly accessed from within the lambda
-     for the thread. To fix this issue, "pthread_self()" is used to
-     fetch a valid "pthread_t" instance for the current thread,
-     instead.
+  MAVROS (asynchronously) runs its TCP, UDP, and serial connection
+  services using dedicated threads.  The "utils::set_thread_name"
+  function is used to assign appropriate names to each of those
+  threads (e.g., "MAVConnTCPs981"). "utils::set_thread_name"
+  accepts an std::thread instance and a string, and attempts to
+  assign the name given by the string to the thread using
+  "pthread_setname_np". However, a segmentation fault occurs when
+  the faulty program is run. This is due to the std::thread
+  instance, "t", being incorrectly accessed from within the lambda
+  for the thread. To fix this issue, "pthread_self()" is used to
+  fetch a valid "pthread_t" instance for the current thread,
+  instead.
 classification: "CWE-362: Concurrent Execution using Shared Resource with Improper Synchronization ('Race Condition') #RESOURCE"
 keywords:
   - segmentation fault
@@ -56,9 +56,15 @@ fix:
     - libmavconn/test/test_hang.cpp
   languages:
     - C++
-  time: 2016-06-06 (00:00)
+  time: 2016-06-06T19:51:43+03:00
 time-machine:
   ros_distro: kinetic
   ros_pkgs:
     - mavros
-  datetime: 2016-06-06
+  datetime: 2016-06-06T19:51:43+03:00
+bugzoo:
+  is-build-failure: false
+  bug-commit: b9bece1437dfe50c2d6855efd166ea2def2733ea
+  fix-commit: 400949c5b152a888a8b4fd94b085bbfc2092f146
+  fork-urls:
+    - https://github.com/robust-rosin/mavros
diff --git a/mavros/400949c/deps.rosinstall b/mavros/400949c/deps.rosinstall
new file mode 100644
index 00000000..d5f0f5a9
--- /dev/null
+++ b/mavros/400949c/deps.rosinstall
@@ -0,0 +1,241 @@
+- tar:
+    local-name: actionlib
+    uri: https://github.com/ros-gbp/actionlib-release/archive/release/kinetic/actionlib/1.11.5-0.tar.gz
+    version: actionlib-release-release-kinetic-actionlib-1.11.5-0
+- tar:
+    local-name: angles
+    uri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/kinetic/angles/1.9.10-0.tar.gz
+    version: geometry_angles_utils-release-release-kinetic-angles-1.9.10-0
+- tar:
+    local-name: catkin
+    uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.1-0.tar.gz
+    version: catkin-release-release-kinetic-catkin-0.7.1-0
+- tar:
+    local-name: class_loader
+    uri: https://github.com/ros-gbp/class_loader-release/archive/release/kinetic/class_loader/0.3.3-0.tar.gz
+    version: class_loader-release-release-kinetic-class_loader-0.3.3-0
+- tar:
+    local-name: cmake_modules
+    uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.0-1.tar.gz
+    version: cmake_modules-release-release-kinetic-cmake_modules-0.4.0-1
+- tar:
+    local-name: common_msgs/actionlib_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/actionlib_msgs/1.12.4-0.tar.gz
+    version: common_msgs-release-release-kinetic-actionlib_msgs-1.12.4-0
+- tar:
+    local-name: common_msgs/diagnostic_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/diagnostic_msgs/1.12.4-0.tar.gz
+    version: common_msgs-release-release-kinetic-diagnostic_msgs-1.12.4-0
+- tar:
+    local-name: common_msgs/geometry_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/geometry_msgs/1.12.4-0.tar.gz
+    version: common_msgs-release-release-kinetic-geometry_msgs-1.12.4-0
+- tar:
+    local-name: common_msgs/nav_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/nav_msgs/1.12.4-0.tar.gz
+    version: common_msgs-release-release-kinetic-nav_msgs-1.12.4-0
+- tar:
+    local-name: common_msgs/sensor_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/sensor_msgs/1.12.4-0.tar.gz
+    version: common_msgs-release-release-kinetic-sensor_msgs-1.12.4-0
+- tar:
+    local-name: diagnostics/diagnostic_updater
+    uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_updater/1.8.9-0.tar.gz
+    version: diagnostics-release-release-kinetic-diagnostic_updater-1.8.9-0
+- tar:
+    local-name: gencpp
+    uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.5.4-0.tar.gz
+    version: gencpp-release-release-kinetic-gencpp-0.5.4-0
+- tar:
+    local-name: geneus
+    uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.5-1.tar.gz
+    version: geneus-release-release-kinetic-geneus-2.2.5-1
+- tar:
+    local-name: genlisp
+    uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.15-0.tar.gz
+    version: genlisp-release-release-kinetic-genlisp-0.4.15-0
+- tar:
+    local-name: genmsg
+    uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.7-1.tar.gz
+    version: genmsg-release-release-kinetic-genmsg-0.5.7-1
+- tar:
+    local-name: gennodejs
+    uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/1.0.3-0.tar.gz
+    version: gennodejs-release-release-kinetic-gennodejs-1.0.3-0
+- tar:
+    local-name: genpy
+    uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.0-0.tar.gz
+    version: genpy-release-release-kinetic-genpy-0.6.0-0
+- tar:
+    local-name: geometry/eigen_conversions
+    uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/eigen_conversions/1.11.8-0.tar.gz
+    version: geometry-release-release-kinetic-eigen_conversions-1.11.8-0
+- tar:
+    local-name: geometry2/tf2
+    uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/0.5.13-0.tar.gz
+    version: geometry2-release-release-kinetic-tf2-0.5.13-0
+- tar:
+    local-name: geometry2/tf2_msgs
+    uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_msgs/0.5.13-0.tar.gz
+    version: geometry2-release-release-kinetic-tf2_msgs-0.5.13-0
+- tar:
+    local-name: geometry2/tf2_py
+    uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_py/0.5.13-0.tar.gz
+    version: geometry2-release-release-kinetic-tf2_py-0.5.13-0
+- tar:
+    local-name: geometry2/tf2_ros
+    uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_ros/0.5.13-0.tar.gz
+    version: geometry2-release-release-kinetic-tf2_ros-0.5.13-0
+- tar:
+    local-name: mavlink
+    uri: https://github.com/mavlink/mavlink-gbp-release/archive/release/kinetic/mavlink/2016.5.20-0.tar.gz
+    version: mavlink-gbp-release-release-kinetic-mavlink-2016.5.20-0
+- tar:
+    local-name: mavros/libmavconn
+    uri: https://github.com/mavlink/mavros-release/archive/release/kinetic/libmavconn/0.17.3-0.tar.gz
+    version: mavros-release-release-kinetic-libmavconn-0.17.3-0
+- tar:
+    local-name: mavros/mavros_msgs
+    uri: https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros_msgs/0.17.3-0.tar.gz
+    version: mavros-release-release-kinetic-mavros_msgs-0.17.3-0
+- tar:
+    local-name: message_generation
+    uri: https://github.com/ros-gbp/message_generation-release/archive/release/kinetic/message_generation/0.4.0-0.tar.gz
+    version: message_generation-release-release-kinetic-message_generation-0.4.0-0
+- tar:
+    local-name: message_runtime
+    uri: https://github.com/ros-gbp/message_runtime-release/archive/release/kinetic/message_runtime/0.4.12-0.tar.gz
+    version: message_runtime-release-release-kinetic-message_runtime-0.4.12-0
+- tar:
+    local-name: orocos_kinematics_dynamics/orocos_kdl
+    uri: https://github.com/smits/orocos-kdl-release/archive/release/kinetic/orocos_kdl/1.3.0-0.tar.gz
+    version: orocos-kdl-release-release-kinetic-orocos_kdl-1.3.0-0
+- tar:
+    local-name: pluginlib
+    uri: https://github.com/ros-gbp/pluginlib-release/archive/release/kinetic/pluginlib/1.10.2-0.tar.gz
+    version: pluginlib-release-release-kinetic-pluginlib-1.10.2-0
+- tar:
+    local-name: ros/rosbuild
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosbuild/1.13.1-0.tar.gz
+    version: ros-release-release-kinetic-rosbuild-1.13.1-0
+- tar:
+    local-name: ros/rosclean
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosclean/1.13.1-0.tar.gz
+    version: ros-release-release-kinetic-rosclean-1.13.1-0
+- tar:
+    local-name: ros/roslang
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslang/1.13.1-0.tar.gz
+    version: ros-release-release-kinetic-roslang-1.13.1-0
+- tar:
+    local-name: ros/roslib
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslib/1.13.1-0.tar.gz
+    version: ros-release-release-kinetic-roslib-1.13.1-0
+- tar:
+    local-name: ros/rosunit
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosunit/1.13.1-0.tar.gz
+    version: ros-release-release-kinetic-rosunit-1.13.1-0
+- tar:
+    local-name: ros_comm/message_filters
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/message_filters/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-message_filters-1.12.2-0
+- tar:
+    local-name: ros_comm/rosbag
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag-1.12.2-0
+- tar:
+    local-name: ros_comm/rosbag_storage
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag_storage/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag_storage-1.12.2-0
+- tar:
+    local-name: ros_comm/rosconsole
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosconsole/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosconsole-1.12.2-0
+- tar:
+    local-name: ros_comm/roscpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roscpp/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-roscpp-1.12.2-0
+- tar:
+    local-name: ros_comm/rosgraph
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosgraph/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosgraph-1.12.2-0
+- tar:
+    local-name: ros_comm/roslaunch
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslaunch/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslaunch-1.12.2-0
+- tar:
+    local-name: ros_comm/roslz4
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslz4/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslz4-1.12.2-0
+- tar:
+    local-name: ros_comm/rosmaster
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosmaster/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosmaster-1.12.2-0
+- tar:
+    local-name: ros_comm/rosnode
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosnode/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosnode-1.12.2-0
+- tar:
+    local-name: ros_comm/rosout
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosout/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosout-1.12.2-0
+- tar:
+    local-name: ros_comm/rosparam
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosparam/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosparam-1.12.2-0
+- tar:
+    local-name: ros_comm/rospy
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rospy/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rospy-1.12.2-0
+- tar:
+    local-name: ros_comm/rostest
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostest/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostest-1.12.2-0
+- tar:
+    local-name: ros_comm/rostopic
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostopic/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostopic-1.12.2-0
+- tar:
+    local-name: ros_comm/topic_tools
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/topic_tools/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-topic_tools-1.12.2-0
+- tar:
+    local-name: ros_comm/xmlrpcpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/xmlrpcpp/1.12.2-0.tar.gz
+    version: ros_comm-release-release-kinetic-xmlrpcpp-1.12.2-0
+- tar:
+    local-name: ros_comm_msgs/rosgraph_msgs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/rosgraph_msgs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-rosgraph_msgs-1.11.2-0
+- tar:
+    local-name: ros_comm_msgs/std_srvs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/std_srvs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-std_srvs-1.11.2-0
+- tar:
+    local-name: rosconsole_bridge
+    uri: https://github.com/ros-gbp/rosconsole_bridge-release/archive/release/kinetic/rosconsole_bridge/0.4.4-0.tar.gz
+    version: rosconsole_bridge-release-release-kinetic-rosconsole_bridge-0.4.4-0
+- tar:
+    local-name: roscpp_core/cpp_common
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/cpp_common/0.6.0-0.tar.gz
+    version: roscpp_core-release-release-kinetic-cpp_common-0.6.0-0
+- tar:
+    local-name: roscpp_core/roscpp_serialization
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_serialization/0.6.0-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_serialization-0.6.0-0
+- tar:
+    local-name: roscpp_core/roscpp_traits
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_traits/0.6.0-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_traits-0.6.0-0
+- tar:
+    local-name: roscpp_core/rostime
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/rostime/0.6.0-0.tar.gz
+    version: roscpp_core-release-release-kinetic-rostime-0.6.0-0
+- tar:
+    local-name: rospack
+    uri: https://github.com/ros-gbp/rospack-release/archive/release/kinetic/rospack/2.3.0-0.tar.gz
+    version: rospack-release-release-kinetic-rospack-2.3.0-0
+- tar:
+    local-name: std_msgs
+    uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.10-0.tar.gz
+    version: std_msgs-release-release-kinetic-std_msgs-0.5.10-0
+
diff --git a/mavros/400949c/test.sh b/mavros/400949c/test.sh
new file mode 100755
index 00000000..b65c318b
--- /dev/null
+++ b/mavros/400949c/test.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+echo "missing test"