Fixed correct RC loss detection, AR.Drone is now shutting down motors after 1 s of RC loss. Added debug topic.

23 files changed, 213 insertions, 79 deletions

diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index a865992ed..220c3d3b5 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -289,7 +289,10 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
 			orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
 			
-			if (armed.armed) {
+			/* for now only spin if armed and immediately shut down
+			 * if in failsafe
+			 */
+			if (armed.armed && !armed.failsafe) {
 				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
 			} else {
 				/* Silently lock down motor speeds to zero */
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 80d2c58f8..4135abf60 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -69,6 +69,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/actuator_controls.h>
 #include <mavlink/mavlink_log.h>
  
 #include <systemlib/param/param.h>
@@ -1174,6 +1175,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* End battery voltage check */
 
 		/* Start RC state check */
+		bool prev_lost = current_status.rc_signal_lost;
 
 		if (rc.chan_count > 4 && (hrt_absolute_time() - rc.timestamp) < 100000) {
 
@@ -1238,10 +1240,18 @@ int commander_thread_main(int argc, char *argv[])
 			/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
 			current_status.rc_signal_cutting_off = true;
 			current_status.rc_signal_lost_interval = hrt_absolute_time() - rc.timestamp;
+
 			/* if the RC signal is gone for a full second, consider it lost */
 			if (current_status.rc_signal_lost_interval > 1000000) current_status.rc_signal_lost = true;
 		}
 
+		/* Check if this is the first loss or first gain*/
+		if ((!prev_lost && current_status.rc_signal_lost) ||
+			prev_lost && !current_status.rc_signal_lost) {
+			/* publish rc lost */
+			publish_armed_status(&current_status);
+		}
+
 		/* End mode switch */
 
 		/* END RC state check */
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 4e2166a3a..51ed95114 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -199,10 +199,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	if (invalid_state == false || old_state != new_state) {
 		current_status->state_machine = new_state;
 		state_machine_publish(status_pub, current_status, mavlink_fd);
-		struct actuator_armed_s armed;
-		armed.armed = current_status->flag_system_armed;
-		orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
-		orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
+		publish_armed_status(current_status);
 		ret = OK;
 	}
 	if (invalid_state) {
@@ -220,6 +217,14 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	printf("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
 }
 
+void publish_armed_status(const struct vehicle_status_s *current_status) {
+	struct actuator_armed_s armed;
+	armed.armed = current_status->flag_system_armed;
+	armed.failsafe = current_status->rc_signal_lost;
+	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
+	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
+}
+
 
 /*
  * Private functions, update the state machine
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
index 4908c799a..c4d1b78a5 100644
--- a/apps/commander/state_machine_helper.h
+++ b/apps/commander/state_machine_helper.h
@@ -188,6 +188,12 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
  */
 void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
 
+/**
+ * Publish the armed state depending on the current system state
+ *
+ * @param current_status the current system status
+ */
+void publish_armed_status(const struct vehicle_status_s *current_status);
 
 
 
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 04ba4cbbb..ad4976bc2 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -1120,5 +1120,5 @@ mpu6000_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "info"))
 		mpu6000::info();
 
-	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
 }
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ef0eab130..0d9be58e9 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -75,6 +75,7 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/debug_key_value.h>
 #include <systemlib/param/param.h>
 
 #include "waypoints.h"
@@ -166,6 +167,7 @@ static struct mavlink_subscriptions {
 	int spa_sub;
 	int spl_sub;
 	int spg_sub;
+	int debug_key_value;
 	bool initialized;
 } mavlink_subs = {
 	.sensor_sub = 0,
@@ -183,6 +185,7 @@ static struct mavlink_subscriptions {
 	.spa_sub = 0,
 	.spl_sub = 0,
 	.spg_sub = 0,
+	.debug_key_value = 0,
 	.initialized = false
 };
 
@@ -543,6 +546,10 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
 		case MAVLINK_MSG_ID_MANUAL_CONTROL:
 			/* manual_control_setpoint triggers this message */
 			if (subs->man_control_sp_sub) orb_set_interval(subs->man_control_sp_sub, min_interval);
+			break;
+		case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+			if (subs->debug_key_value) orb_set_interval(subs->debug_key_value, min_interval);
+			break;
 		default:
 			/* not found */
 			ret = ERROR;
@@ -588,6 +595,7 @@ static void *uorb_receiveloop(void *arg)
 		struct actuator_outputs_s act_outputs;
 		struct manual_control_setpoint_s man_control;
 		struct actuator_controls_s actuators;
+		struct debug_key_value_s debug;
 	} buf;
 
 	/* --- SENSORS RAW VALUE --- */
@@ -709,6 +717,13 @@ static void *uorb_receiveloop(void *arg)
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- DEBUG VALUE OUTPUT --- */
+	/* subscribe to ORB for debug value outputs */
+	subs->debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
+	fds[fdsc_count].fd = subs->debug_key_value;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* all subscriptions initialized, return success */
 	subs->initialized = true;
 
@@ -1060,10 +1075,17 @@ static void *uorb_receiveloop(void *arg)
 			/* --- ACTUATOR CONTROL --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0", buf.actuators.control[0]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1", buf.actuators.control[1]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2", buf.actuators.control[2]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3", buf.actuators.control[3]);
+				/* send, add spaces so that string buffer is at least 10 chars long */
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0     ", buf.actuators.control[0]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1     ", buf.actuators.control[1]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2     ", buf.actuators.control[2]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3     ", buf.actuators.control[3]);
+			}
+
+			/* --- DEBUG KEY/VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, buf.debug.key, buf.debug.value);
 			}
 		}
 	}
@@ -1501,6 +1523,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 2);
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 5);
 		/* 5 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
 	} else if (baudrate >= 460800) {
@@ -1508,15 +1531,19 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
+		/* 100 Hz / 10 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		/* 50 Hz / 20 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 20);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
 	} else if (baudrate >= 115200) {
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 50);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
+		/* 20 Hz / 50 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
 		/* 10 Hz / 100 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
 		/* 1 Hz */
@@ -1527,6 +1554,8 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
 		/* 5 Hz / 200 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
+		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 0.2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 5000);
@@ -1535,6 +1564,8 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 1000);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
+		/* 1 Hz / 1000 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000);
 		/* 0.5 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
 		/* 0.1 Hz */
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index de26dcf01..e40199e97 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -123,3 +123,6 @@ ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
+
+#include "topics/debug_key_value.h"
+ORB_DEFINE(debug_key_value, struct debug_key_value_s);
diff --git a/apps/uORB/topics/actuator_controls.h b/apps/uORB/topics/actuator_controls.h
index 2b7d7de5d..e6d7c8670 100644
--- a/apps/uORB/topics/actuator_controls.h
+++ b/apps/uORB/topics/actuator_controls.h
@@ -67,7 +67,8 @@ ORB_DECLARE(actuator_controls_3);
 
 /** global 'actuator output is live' control. */
 struct actuator_armed_s {
-	bool	armed;
+	bool	armed;		/**< Set to true if system is armed */
+	bool	failsafe;	/**< Set to true if no valid control input is available */
 };
 
 ORB_DECLARE(actuator_armed);
diff --git a/apps/uORB/topics/debug_key_value.h b/apps/uORB/topics/debug_key_value.h
new file mode 100644
index 000000000..a9d1b83fd
--- /dev/null
+++ b/apps/uORB/topics/debug_key_value.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 debug_key_value.h
+ * Definition of the debug named value uORB topic. Allows to send a 10-char key
+ * with a float as value.
+ */
+
+#ifndef TOPIC_DEBUG_KEY_VALUE_H_
+#define TOPIC_DEBUG_KEY_VALUE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Key/value pair for debugging
+ */
+struct debug_key_value_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+	uint32_t timestamp_ms;		/**< in milliseconds since system start */
+	char key[10];				/**< max. 10 characters as key / name */
+	float value;				/**< the value to send as debug output */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(debug_key_value);
+
+#endif
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index b73c6246c..e5e0e74dd 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
index 5e61d4f7b..b334aba3f 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:55:54 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:20 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h
index 2c817d846..9a3b86630 100644
--- a/mavlink/include/mavlink/v1.0/common/common.h
+++ b/mavlink/include/mavlink/v1.0/common/common.h
@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
index e4617702b..a911fe25e 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_global_vision_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_global_vision_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_
  * @brief Send a global_vision_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
 /**
  * @brief Get field usec from global_vision_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
index 117a98e28..3fc652351 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_highres_imu_t
 {
- uint64_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
+ uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float xacc; ///< X acceleration (m/s^2)
  float yacc; ///< Y acceleration (m/s^2)
  float zacc; ///< Z acceleration (m/s^2)
@@ -14,8 +14,8 @@ typedef struct __mavlink_highres_imu_t
  float xmag; ///< X Magnetic field (Gauss)
  float ymag; ///< Y Magnetic field (Gauss)
  float zmag; ///< Z Magnetic field (Gauss)
- float abs_pressure; ///< Absolute pressure in hectopascal
- float diff_pressure; ///< Differential pressure in hectopascal
+ float abs_pressure; ///< Absolute pressure in millibar
+ float diff_pressure; ///< Differential pressure in millibar
  float pressure_alt; ///< Altitude calculated from pressure
  float temperature; ///< Temperature in degrees celsius
 } mavlink_highres_imu_t;
@@ -28,7 +28,7 @@ typedef struct __mavlink_highres_imu_t
 #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
 	"HIGHRES_IMU", \
 	14, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_boot_ms) }, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
@@ -52,7 +52,7 @@ typedef struct __mavlink_highres_imu_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -62,18 +62,18 @@ typedef struct __mavlink_highres_imu_t
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+						       uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -91,7 +91,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -110,7 +110,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-	return mavlink_finalize_message(msg, system_id, component_id, 60, 106);
+	return mavlink_finalize_message(msg, system_id, component_id, 60, 148);
 }
 
 /**
@@ -119,7 +119,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -129,19 +129,19 @@ static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t c
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint64_t time_boot_ms,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature)
+						           uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -159,7 +159,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 60);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -178,7 +178,7 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 106);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 60, 148);
 }
 
 /**
@@ -191,14 +191,14 @@ static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint
  */
 static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
 {
-	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_boot_ms, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature);
+	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature);
 }
 
 /**
  * @brief Send a highres_imu message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param xacc X acceleration (m/s^2)
  * @param yacc Y acceleration (m/s^2)
  * @param zacc Z acceleration (m/s^2)
@@ -208,18 +208,18 @@ static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t
  * @param xmag X Magnetic field (Gauss)
  * @param ymag Y Magnetic field (Gauss)
  * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in hectopascal
- * @param diff_pressure Differential pressure in hectopascal
+ * @param abs_pressure Absolute pressure in millibar
+ * @param diff_pressure Differential pressure in millibar
  * @param pressure_alt Altitude calculated from pressure
  * @param temperature Temperature in degrees celsius
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_boot_ms, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
+static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[60];
-	_mav_put_uint64_t(buf, 0, time_boot_ms);
+	_mav_put_uint64_t(buf, 0, time_usec);
 	_mav_put_float(buf, 8, xacc);
 	_mav_put_float(buf, 12, yacc);
 	_mav_put_float(buf, 16, zacc);
@@ -234,10 +234,10 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 	_mav_put_float(buf, 52, pressure_alt);
 	_mav_put_float(buf, 56, temperature);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 60, 106);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, 60, 148);
 #else
 	mavlink_highres_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
+	packet.time_usec = time_usec;
 	packet.xacc = xacc;
 	packet.yacc = yacc;
 	packet.zacc = zacc;
@@ -252,7 +252,7 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 	packet.pressure_alt = pressure_alt;
 	packet.temperature = temperature;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 106);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, 60, 148);
 #endif
 }
 
@@ -262,11 +262,11 @@ static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t
 
 
 /**
- * @brief Get field time_boot_ms from highres_imu message
+ * @brief Get field time_usec from highres_imu message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
-static inline uint64_t mavlink_msg_highres_imu_get_time_boot_ms(const mavlink_message_t* msg)
+static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
 {
 	return _MAV_RETURN_uint64_t(msg,  0);
 }
@@ -364,7 +364,7 @@ static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* ms
 /**
  * @brief Get field abs_pressure from highres_imu message
  *
- * @return Absolute pressure in hectopascal
+ * @return Absolute pressure in millibar
  */
 static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
 {
@@ -374,7 +374,7 @@ static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_messa
 /**
  * @brief Get field diff_pressure from highres_imu message
  *
- * @return Differential pressure in hectopascal
+ * @return Differential pressure in millibar
  */
 static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
 {
@@ -410,7 +410,7 @@ static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_messag
 static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
 {
 #if MAVLINK_NEED_BYTE_SWAP
-	highres_imu->time_boot_ms = mavlink_msg_highres_imu_get_time_boot_ms(msg);
+	highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
 	highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
 	highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
 	highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
index ecb565684..93ad097f9 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vicon_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_vicon_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
  * @brief Send a vicon_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
 /**
  * @brief Get field usec from vicon_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
index 041caf7a0..ca567c119 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vision_position_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X position
  float y; ///< Global Y position
  float z; ///< Global Z position
@@ -38,7 +38,7 @@ typedef struct __mavlink_vision_position_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -142,7 +142,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste
  * @brief Send a vision_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
@@ -187,7 +187,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
 /**
  * @brief Get field usec from vision_position_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
index 3e30b9247..10ec1026c 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_vision_speed_estimate_t
 {
- uint64_t usec; ///< Timestamp (milliseconds)
+ uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
  float x; ///< Global X speed
  float y; ///< Global Y speed
  float z; ///< Global Z speed
@@ -32,7 +32,7 @@ typedef struct __mavlink_vision_speed_estimate_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -69,7 +69,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -118,7 +118,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_i
  * @brief Send a vision_speed_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (milliseconds)
+ * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  * @param x Global X speed
  * @param y Global Y speed
  * @param z Global Z speed
@@ -154,7 +154,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
 /**
  * @brief Get field usec from vision_speed_estimate message
  *
- * @return Timestamp (milliseconds)
+ * @return Timestamp (microseconds, synced to UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h
index 33c77d142..e5c08b748 100644
--- a/mavlink/include/mavlink/v1.0/common/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/common/testsuite.h
@@ -3738,7 +3738,7 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
 	};
 	mavlink_highres_imu_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
+        	packet1.time_usec = packet_in.time_usec;
         	packet1.xacc = packet_in.xacc;
         	packet1.yacc = packet_in.yacc;
         	packet1.zacc = packet_in.zacc;
@@ -3761,12 +3761,12 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -3779,7 +3779,7 @@ static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, ma
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
+	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature );
 	mavlink_msg_highres_imu_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h
index 0bd0f331f..0db5e879f 100644
--- a/mavlink/include/mavlink/v1.0/common/version.h
+++ b/mavlink/include/mavlink/v1.0/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:39 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
index 1d44b54e8..6921ebecc 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 23, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h
index b2e02526f..ab0b13643 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/version.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:05 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:29 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
index bb802dea6..c8476e303 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
@@ -16,7 +16,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 148, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 15, 0, 108, 0, 146, 0, 16, 0, 32, 0, 159, 0, 24, 248, 79, 0, 5, 0, 170, 0, 157, 0, 209, 0, 243, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h
index 40aa6b625..251579827 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/version.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Sep  3 14:56:15 2012"
+#define MAVLINK_BUILD_DATE "Wed Sep  5 11:04:39 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101