diff --git a/.gitmodules b/.gitmodules
index f376e12f93af2..7ad9bc25b70da 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,3 +34,6 @@
 [submodule "modules/CrashDebug"]
 	path = modules/CrashDebug
 	url = https://github.com/adamgreen/CrashDebug
+[submodule "modules/libguardian"]
+	path = modules/libguardian
+	url = https://github.com/Thalhammer/jwt-cpp.git
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 301be414141ee..076142c196b4b 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -15,6 +15,33 @@ void AP_Arming_Copter::update(void)
         display_fail = true;
         pre_arm_display_counter = 0;
     }
+    //a sample verification token
+    std::string rsa_pub_key = R"(-----BEGIN PUBLIC KEY-----
+MIIBIjANBgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEAuGbXWiK3dQTyCbX5xdE4
+yCuYp0AF2d15Qq1JSXT/lx8CEcXb9RbDddl8jGDv+spi5qPa8qEHiK7FwV2KpRE9
+83wGPnYsAm9BxLFb4YrLYcDFOIGULuk2FtrPS512Qea1bXASuvYXEpQNpGbnTGVs
+WXI9C+yjHztqyL2h8P6mlThPY9E9ue2fCqdgixfTFIF9Dm4SLHbphUS2iw7w1JgT
+69s7of9+I9l5lsJ9cozf1rxrXX4V1u/SotUuNB3Fp8oB4C1fLBEhSlMcUJirz1E8
+AziMCxS+VrRPDM+zfvpIJg3JljAh3PJHDiLu902v9w+Iplu1WyoB2aPfitxEhRN0
+YwIDAQAB
+-----END PUBLIC KEY-----)";
+
+	std::string token = "eyJhbGciOiJSUzI1NiIsInR5cCI6IkpXUyJ9.eyJpc3MiOiJhdXRoMCJ9."
+						"VA2i1ui1cnoD6I3wnji1WAVCf29EekysvevGrT2GXqK1dDMc8"
+						"HAZCTQxa1Q8NppnpYV-hlqxh-X3Bb0JOePTGzjynpNZoJh2aHZD-"
+						"GKpZt7OO1Zp8AFWPZ3p8Cahq8536fD8RiBES9jRsvChZvOqA7gMcFc4"
+						"YD0iZhNIcI7a654u5yPYyTlf5kjR97prCf_OXWRn-bYY74zna4p_bP9oWCL4BkaoRcMxi-"
+						"IR7kmVcCnvbYqyIrKloXP2qPO442RBGqU7Ov9"
+						"sGQxiVqtRHKXZR9RbfvjrErY1KGiCp9M5i2bsUHadZEY44FE2jiOmx-"
+						"uc2z5c05CCXqVSpfCjWbh9gQ";
+
+	auto verify =
+		jwt::verify().allow_algorithm(jwt::algorithm::rs256(rsa_pub_key, "", "", "")).with_issuer("auth0");
+
+	auto decoded = jwt::decode(token);
+
+	verify.verify(decoded);
+
 
     pre_arm_checks(display_fail);
 }
diff --git a/ArduCopter/AP_Arming.h b/ArduCopter/AP_Arming.h
index 28f3c58233cf3..41d53fba20623 100644
--- a/ArduCopter/AP_Arming.h
+++ b/ArduCopter/AP_Arming.h
@@ -1,6 +1,12 @@
 #pragma once
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#pragma GCC diagnostic ignored "-Wshadow" 
+#pragma GCC disgnostic pop
+
 #include <AP_Arming/AP_Arming.h>
+#include <jwt-cpp/jwt.h>
 
 class AP_Arming_Copter : public AP_Arming
 {
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index b9d944e7fc943..4086277186a2a 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -358,11 +358,17 @@ def configure_env(self, cfg, env):
                 cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
             ]
 
+        env.INCLUDES += [
+            cfg.srcnode.find_dir('modules/libguardian/include/').abspath()
+        ]
+        env.CXXFLAGS += [
+            '-fexceptions' 
+        ] 
         if cfg.options.build_dates:
             env.build_dates = True
 
         # We always want to use PRI format macros
-        cfg.define('__STDC_FORMAT_MACROS', 1)
+        cfg.define('__STDC_FORMAT_MACROS_', 1)
 
         if cfg.options.disable_ekf2:
             env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
@@ -548,6 +554,9 @@ def configure_env(self, cfg, env):
 
         env.LIB += [
             'm',
+            'ssl',
+            'crypto',
+            'dl'
         ]
 
         cfg.check_librt(env)
diff --git a/libraries/SITL/picojson.h b/libraries/SITL/picojson.h
index fad35488b99e2..3c4904696c235 100644
--- a/libraries/SITL/picojson.h
+++ b/libraries/SITL/picojson.h
@@ -95,7 +95,7 @@ extern "C" {
 
 // experimental support for int64_t (see README.mkdn for detail)
 #ifdef PICOJSON_USE_INT64
-#define __STDC_FORMAT_MACROS
+#define __STDC_FORMAT_MACROS_
 #include <cerrno>
 #if __cplusplus >= 201103L
 #include <cinttypes>
diff --git a/modules/libguardian b/modules/libguardian
new file mode 160000
index 0000000000000..5c9787ebcadd1
--- /dev/null
+++ b/modules/libguardian
@@ -0,0 +1 @@
+Subproject commit 5c9787ebcadd122ae5c41248a0ac416f85eb846d