Updated / bugfixed MAVLink

22 files changed, 1206 insertions, 343 deletions

diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index 7d2da37ad..65868ef89 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 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, 243, 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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 234, 73, 181, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
@@ -97,7 +97,8 @@ enum FENCE_ACTION
 {
 	FENCE_ACTION_NONE=0, /* Disable fenced mode | */
 	FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */
-	FENCE_ACTION_ENUM_END=2, /*  | */
+	FENCE_ACTION_REPORT=2, /* Report fence breach, but don't take action | */
+	FENCE_ACTION_ENUM_END=3, /*  | */
 };
 #endif
 
@@ -173,6 +174,10 @@ enum LIMIT_MODULE
 #include "./mavlink_msg_radio.h"
 #include "./mavlink_msg_limits_status.h"
 #include "./mavlink_msg_wind.h"
+#include "./mavlink_msg_data16.h"
+#include "./mavlink_msg_data32.h"
+#include "./mavlink_msg_data64.h"
+#include "./mavlink_msg_data96.h"
 
 #ifdef __cplusplus
 }
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
new file mode 100644
index 000000000..359201c8c
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
@@ -0,0 +1,182 @@
+// MESSAGE DATA16 PACKING
+
+#define MAVLINK_MSG_ID_DATA16 169
+
+typedef struct __mavlink_data16_t
+{
+ uint8_t type; ///< data type
+ uint8_t len; ///< data length
+ uint8_t data[16]; ///< raw data
+} mavlink_data16_t;
+
+#define MAVLINK_MSG_ID_DATA16_LEN 18
+#define MAVLINK_MSG_ID_169_LEN 18
+
+#define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16
+
+#define MAVLINK_MESSAGE_INFO_DATA16 { \
+	"DATA16", \
+	3, \
+	{  { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \
+         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \
+         { "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a data16 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[18];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 16);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+	mavlink_data16_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA16;
+	return mavlink_finalize_message(msg, system_id, component_id, 18, 234);
+}
+
+/**
+ * @brief Pack a data16 message on a channel
+ * @param system_id ID of this 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 type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t type,uint8_t len,const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[18];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 16);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
+#else
+	mavlink_data16_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA16;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 234);
+}
+
+/**
+ * @brief Encode a data16 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param data16 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data16_t* data16)
+{
+	return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
+}
+
+/**
+ * @brief Send a data16 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[18];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 16);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, 18, 234);
+#else
+	mavlink_data16_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, 18, 234);
+#endif
+}
+
+#endif
+
+// MESSAGE DATA16 UNPACKING
+
+
+/**
+ * @brief Get field type from data16 message
+ *
+ * @return data type
+ */
+static inline uint8_t mavlink_msg_data16_get_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field len from data16 message
+ *
+ * @return data length
+ */
+static inline uint8_t mavlink_msg_data16_get_len(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field data from data16 message
+ *
+ * @return raw data
+ */
+static inline uint16_t mavlink_msg_data16_get_data(const mavlink_message_t* msg, uint8_t *data)
+{
+	return _MAV_RETURN_uint8_t_array(msg, data, 16,  2);
+}
+
+/**
+ * @brief Decode a data16 message into a struct
+ *
+ * @param msg The message to decode
+ * @param data16 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavlink_data16_t* data16)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	data16->type = mavlink_msg_data16_get_type(msg);
+	data16->len = mavlink_msg_data16_get_len(msg);
+	mavlink_msg_data16_get_data(msg, data16->data);
+#else
+	memcpy(data16, _MAV_PAYLOAD(msg), 18);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h
new file mode 100644
index 000000000..a9b3fe28d
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h
@@ -0,0 +1,182 @@
+// MESSAGE DATA32 PACKING
+
+#define MAVLINK_MSG_ID_DATA32 170
+
+typedef struct __mavlink_data32_t
+{
+ uint8_t type; ///< data type
+ uint8_t len; ///< data length
+ uint8_t data[32]; ///< raw data
+} mavlink_data32_t;
+
+#define MAVLINK_MSG_ID_DATA32_LEN 34
+#define MAVLINK_MSG_ID_170_LEN 34
+
+#define MAVLINK_MSG_DATA32_FIELD_DATA_LEN 32
+
+#define MAVLINK_MESSAGE_INFO_DATA32 { \
+	"DATA32", \
+	3, \
+	{  { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data32_t, type) }, \
+         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data32_t, len) }, \
+         { "data", NULL, MAVLINK_TYPE_UINT8_T, 32, 2, offsetof(mavlink_data32_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a data32 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[34];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+#else
+	mavlink_data32_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA32;
+	return mavlink_finalize_message(msg, system_id, component_id, 34, 73);
+}
+
+/**
+ * @brief Pack a data32 message on a channel
+ * @param system_id ID of this 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 type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t type,uint8_t len,const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[34];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 34);
+#else
+	mavlink_data32_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 34);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA32;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 34, 73);
+}
+
+/**
+ * @brief Encode a data32 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param data32 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data32_t* data32)
+{
+	return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data);
+}
+
+/**
+ * @brief Send a data32 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[34];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 32);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, 34, 73);
+#else
+	mavlink_data32_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, 34, 73);
+#endif
+}
+
+#endif
+
+// MESSAGE DATA32 UNPACKING
+
+
+/**
+ * @brief Get field type from data32 message
+ *
+ * @return data type
+ */
+static inline uint8_t mavlink_msg_data32_get_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field len from data32 message
+ *
+ * @return data length
+ */
+static inline uint8_t mavlink_msg_data32_get_len(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field data from data32 message
+ *
+ * @return raw data
+ */
+static inline uint16_t mavlink_msg_data32_get_data(const mavlink_message_t* msg, uint8_t *data)
+{
+	return _MAV_RETURN_uint8_t_array(msg, data, 32,  2);
+}
+
+/**
+ * @brief Decode a data32 message into a struct
+ *
+ * @param msg The message to decode
+ * @param data32 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_data32_decode(const mavlink_message_t* msg, mavlink_data32_t* data32)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	data32->type = mavlink_msg_data32_get_type(msg);
+	data32->len = mavlink_msg_data32_get_len(msg);
+	mavlink_msg_data32_get_data(msg, data32->data);
+#else
+	memcpy(data32, _MAV_PAYLOAD(msg), 34);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h
new file mode 100644
index 000000000..29dcaa6d8
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h
@@ -0,0 +1,182 @@
+// MESSAGE DATA64 PACKING
+
+#define MAVLINK_MSG_ID_DATA64 171
+
+typedef struct __mavlink_data64_t
+{
+ uint8_t type; ///< data type
+ uint8_t len; ///< data length
+ uint8_t data[64]; ///< raw data
+} mavlink_data64_t;
+
+#define MAVLINK_MSG_ID_DATA64_LEN 66
+#define MAVLINK_MSG_ID_171_LEN 66
+
+#define MAVLINK_MSG_DATA64_FIELD_DATA_LEN 64
+
+#define MAVLINK_MESSAGE_INFO_DATA64 { \
+	"DATA64", \
+	3, \
+	{  { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data64_t, type) }, \
+         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data64_t, len) }, \
+         { "data", NULL, MAVLINK_TYPE_UINT8_T, 64, 2, offsetof(mavlink_data64_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a data64 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data64_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[66];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 64);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66);
+#else
+	mavlink_data64_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA64;
+	return mavlink_finalize_message(msg, system_id, component_id, 66, 181);
+}
+
+/**
+ * @brief Pack a data64 message on a channel
+ * @param system_id ID of this 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 type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data64_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t type,uint8_t len,const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[66];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 64);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 66);
+#else
+	mavlink_data64_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 66);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA64;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 66, 181);
+}
+
+/**
+ * @brief Encode a data64 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param data64 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data64_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data64_t* data64)
+{
+	return mavlink_msg_data64_pack(system_id, component_id, msg, data64->type, data64->len, data64->data);
+}
+
+/**
+ * @brief Send a data64 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[66];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 64);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, 66, 181);
+#else
+	mavlink_data64_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, 66, 181);
+#endif
+}
+
+#endif
+
+// MESSAGE DATA64 UNPACKING
+
+
+/**
+ * @brief Get field type from data64 message
+ *
+ * @return data type
+ */
+static inline uint8_t mavlink_msg_data64_get_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field len from data64 message
+ *
+ * @return data length
+ */
+static inline uint8_t mavlink_msg_data64_get_len(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field data from data64 message
+ *
+ * @return raw data
+ */
+static inline uint16_t mavlink_msg_data64_get_data(const mavlink_message_t* msg, uint8_t *data)
+{
+	return _MAV_RETURN_uint8_t_array(msg, data, 64,  2);
+}
+
+/**
+ * @brief Decode a data64 message into a struct
+ *
+ * @param msg The message to decode
+ * @param data64 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_data64_decode(const mavlink_message_t* msg, mavlink_data64_t* data64)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	data64->type = mavlink_msg_data64_get_type(msg);
+	data64->len = mavlink_msg_data64_get_len(msg);
+	mavlink_msg_data64_get_data(msg, data64->data);
+#else
+	memcpy(data64, _MAV_PAYLOAD(msg), 66);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
new file mode 100644
index 000000000..df0821c87
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
@@ -0,0 +1,182 @@
+// MESSAGE DATA96 PACKING
+
+#define MAVLINK_MSG_ID_DATA96 172
+
+typedef struct __mavlink_data96_t
+{
+ uint8_t type; ///< data type
+ uint8_t len; ///< data length
+ uint8_t data[96]; ///< raw data
+} mavlink_data96_t;
+
+#define MAVLINK_MSG_ID_DATA96_LEN 98
+#define MAVLINK_MSG_ID_172_LEN 98
+
+#define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96
+
+#define MAVLINK_MESSAGE_INFO_DATA96 { \
+	"DATA96", \
+	3, \
+	{  { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \
+         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \
+         { "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a data96 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[98];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 96);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98);
+#else
+	mavlink_data96_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA96;
+	return mavlink_finalize_message(msg, system_id, component_id, 98, 22);
+}
+
+/**
+ * @brief Pack a data96 message on a channel
+ * @param system_id ID of this 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 type data type
+ * @param len data length
+ * @param data raw data
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t type,uint8_t len,const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[98];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 96);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98);
+#else
+	mavlink_data96_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_DATA96;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 98, 22);
+}
+
+/**
+ * @brief Encode a data96 struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param data96 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data96_t* data96)
+{
+	return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data);
+}
+
+/**
+ * @brief Send a data96 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param type data type
+ * @param len data length
+ * @param data raw data
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[98];
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 96);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, 98, 22);
+#else
+	mavlink_data96_t packet;
+	packet.type = type;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, 98, 22);
+#endif
+}
+
+#endif
+
+// MESSAGE DATA96 UNPACKING
+
+
+/**
+ * @brief Get field type from data96 message
+ *
+ * @return data type
+ */
+static inline uint8_t mavlink_msg_data96_get_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field len from data96 message
+ *
+ * @return data length
+ */
+static inline uint8_t mavlink_msg_data96_get_len(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field data from data96 message
+ *
+ * @return raw data
+ */
+static inline uint16_t mavlink_msg_data96_get_data(const mavlink_message_t* msg, uint8_t *data)
+{
+	return _MAV_RETURN_uint8_t_array(msg, data, 96,  2);
+}
+
+/**
+ * @brief Decode a data96 message into a struct
+ *
+ * @param msg The message to decode
+ * @param data96 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavlink_data96_t* data96)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	data96->type = mavlink_msg_data96_get_type(msg);
+	data96->len = mavlink_msg_data96_get_len(msg);
+	mavlink_msg_data96_get_data(msg, data96->data);
+#else
+	memcpy(data96, _MAV_PAYLOAD(msg), 98);
+#endif
+}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
index 7b7cf43db..0442ab787 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
@@ -992,6 +992,194 @@ static void mavlink_test_wind(uint8_t system_id, uint8_t component_id, mavlink_m
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_data16(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_data16_t packet_in = {
+		5,
+	72,
+	{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154 },
+	};
+	mavlink_data16_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.type = packet_in.type;
+        	packet1.len = packet_in.len;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*16);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data16_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_data16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data16_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data16_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_data16_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data16_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data16_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_data32(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_data32_t packet_in = {
+		5,
+	72,
+	{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 },
+	};
+	mavlink_data32_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.type = packet_in.type;
+        	packet1.len = packet_in.len;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*32);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data32_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_data32_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data32_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data32_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data32_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data32_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_data32_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data32_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data32_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_data64(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_data64_t packet_in = {
+		5,
+	72,
+	{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202 },
+	};
+	mavlink_data64_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.type = packet_in.type;
+        	packet1.len = packet_in.len;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*64);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data64_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_data64_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data64_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data64_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data64_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data64_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_data64_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data64_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data64_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_data96(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_data96_t packet_in = {
+		5,
+	72,
+	{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234 },
+	};
+	mavlink_data96_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.type = packet_in.type;
+        	packet1.len = packet_in.len;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*96);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data96_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_data96_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data96_pack(system_id, component_id, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data96_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data96_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data96_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_data96_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data96_send(MAVLINK_COMM_1 , packet1.type , packet1.len , packet1.data );
+	mavlink_msg_data96_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@@ -1012,6 +1200,10 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
 	mavlink_test_radio(system_id, component_id, last_msg);
 	mavlink_test_limits_status(system_id, component_id, last_msg);
 	mavlink_test_wind(system_id, component_id, last_msg);
+	mavlink_test_data16(system_id, component_id, last_msg);
+	mavlink_test_data32(system_id, component_id, last_msg);
+	mavlink_test_data64(system_id, component_id, last_msg);
+	mavlink_test_data96(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
index 94ac9fe41..52d12f3c0 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 "Thu Sep  6 15:30:01 2012"
+#define MAVLINK_BUILD_DATE "Fri Sep 14 11:04:09 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 a02499fff..4db1a8984 100644
--- a/mavlink/include/mavlink/v1.0/common/common.h
+++ b/mavlink/include/mavlink/v1.0/common/common.h
@@ -12,11 +12,11 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 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, 243, 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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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_manual_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
index 93adce265..96b3d3040 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
@@ -4,34 +4,28 @@
 
 typedef struct __mavlink_manual_control_t
 {
- float roll; ///< roll
- float pitch; ///< pitch
- float yaw; ///< yaw
- float thrust; ///< thrust
- uint8_t target; ///< The system to be controlled
- uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
- uint8_t pitch_manual; ///< pitch auto:0, manual:1
- uint8_t yaw_manual; ///< yaw auto:0, manual:1
- uint8_t thrust_manual; ///< thrust auto:0, manual:1
+ int16_t x; ///< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ int16_t y; ///< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ int16_t z; ///< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
+ int16_t r; ///< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ uint16_t buttons; ///< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
+ uint8_t target; ///< The system to be controlled.
 } mavlink_manual_control_t;
 
-#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
-#define MAVLINK_MSG_ID_69_LEN 21
+#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11
+#define MAVLINK_MSG_ID_69_LEN 11
 
 
 
 #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
 	"MANUAL_CONTROL", \
-	9, \
-	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_manual_control_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_control_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_control_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_control_t, thrust) }, \
-         { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_manual_control_t, target) }, \
-         { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
-         { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
-         { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
-         { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
+	6, \
+	{  { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
+         { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
+         { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
+         { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
+         { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
+         { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
          } \
 }
 
@@ -42,50 +36,41 @@ typedef struct __mavlink_manual_control_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param target The system to be controlled
- * @param roll roll
- * @param pitch pitch
- * @param yaw yaw
- * @param thrust thrust
- * @param roll_manual roll control enabled auto:0, manual:1
- * @param pitch_manual pitch auto:0, manual:1
- * @param yaw_manual yaw auto:0, manual:1
- * @param thrust_manual thrust auto:0, manual:1
+ * @param target The system to be controlled.
+ * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
+ * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+						       uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[21];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target);
-	_mav_put_uint8_t(buf, 17, roll_manual);
-	_mav_put_uint8_t(buf, 18, pitch_manual);
-	_mav_put_uint8_t(buf, 19, yaw_manual);
-	_mav_put_uint8_t(buf, 20, thrust_manual);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+	char buf[11];
+	_mav_put_int16_t(buf, 0, x);
+	_mav_put_int16_t(buf, 2, y);
+	_mav_put_int16_t(buf, 4, z);
+	_mav_put_int16_t(buf, 6, r);
+	_mav_put_uint16_t(buf, 8, buttons);
+	_mav_put_uint8_t(buf, 10, target);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11);
 #else
 	mavlink_manual_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.r = r;
+	packet.buttons = buttons;
 	packet.target = target;
-	packet.roll_manual = roll_manual;
-	packet.pitch_manual = pitch_manual;
-	packet.yaw_manual = yaw_manual;
-	packet.thrust_manual = thrust_manual;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
-	return mavlink_finalize_message(msg, system_id, component_id, 21, 52);
+	return mavlink_finalize_message(msg, system_id, component_id, 11, 243);
 }
 
 /**
@@ -94,51 +79,42 @@ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_
  * @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 target The system to be controlled
- * @param roll roll
- * @param pitch pitch
- * @param yaw yaw
- * @param thrust thrust
- * @param roll_manual roll control enabled auto:0, manual:1
- * @param pitch_manual pitch auto:0, manual:1
- * @param yaw_manual yaw auto:0, manual:1
- * @param thrust_manual thrust auto:0, manual:1
+ * @param target The system to be controlled.
+ * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
+ * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
+						           uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[21];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target);
-	_mav_put_uint8_t(buf, 17, roll_manual);
-	_mav_put_uint8_t(buf, 18, pitch_manual);
-	_mav_put_uint8_t(buf, 19, yaw_manual);
-	_mav_put_uint8_t(buf, 20, thrust_manual);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
+	char buf[11];
+	_mav_put_int16_t(buf, 0, x);
+	_mav_put_int16_t(buf, 2, y);
+	_mav_put_int16_t(buf, 4, z);
+	_mav_put_int16_t(buf, 6, r);
+	_mav_put_uint16_t(buf, 8, buttons);
+	_mav_put_uint8_t(buf, 10, target);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11);
 #else
 	mavlink_manual_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.r = r;
+	packet.buttons = buttons;
 	packet.target = target;
-	packet.roll_manual = roll_manual;
-	packet.pitch_manual = pitch_manual;
-	packet.yaw_manual = yaw_manual;
-	packet.thrust_manual = thrust_manual;
 
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 52);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 243);
 }
 
 /**
@@ -151,53 +127,44 @@ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, u
  */
 static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
 {
-	return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
+	return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
 }
 
 /**
  * @brief Send a manual_control message
  * @param chan MAVLink channel to send the message
  *
- * @param target The system to be controlled
- * @param roll roll
- * @param pitch pitch
- * @param yaw yaw
- * @param thrust thrust
- * @param roll_manual roll control enabled auto:0, manual:1
- * @param pitch_manual pitch auto:0, manual:1
- * @param yaw_manual yaw auto:0, manual:1
- * @param thrust_manual thrust auto:0, manual:1
+ * @param target The system to be controlled.
+ * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
+ * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ * @param buttons A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[21];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target);
-	_mav_put_uint8_t(buf, 17, roll_manual);
-	_mav_put_uint8_t(buf, 18, pitch_manual);
-	_mav_put_uint8_t(buf, 19, yaw_manual);
-	_mav_put_uint8_t(buf, 20, thrust_manual);
-
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21, 52);
+	char buf[11];
+	_mav_put_int16_t(buf, 0, x);
+	_mav_put_int16_t(buf, 2, y);
+	_mav_put_int16_t(buf, 4, z);
+	_mav_put_int16_t(buf, 6, r);
+	_mav_put_uint16_t(buf, 8, buttons);
+	_mav_put_uint8_t(buf, 10, target);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 11, 243);
 #else
 	mavlink_manual_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.r = r;
+	packet.buttons = buttons;
 	packet.target = target;
-	packet.roll_manual = roll_manual;
-	packet.pitch_manual = pitch_manual;
-	packet.yaw_manual = yaw_manual;
-	packet.thrust_manual = thrust_manual;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21, 52);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 11, 243);
 #endif
 }
 
@@ -209,91 +176,61 @@ static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8
 /**
  * @brief Get field target from manual_control message
  *
- * @return The system to be controlled
+ * @return The system to be controlled.
  */
 static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field roll from manual_control message
- *
- * @return roll
- */
-static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch from manual_control message
- *
- * @return pitch
- */
-static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw from manual_control message
- *
- * @return yaw
- */
-static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
+	return _MAV_RETURN_uint8_t(msg,  10);
 }
 
 /**
- * @brief Get field thrust from manual_control message
+ * @brief Get field x from manual_control message
  *
- * @return thrust
+ * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
  */
-static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
+static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  12);
+	return _MAV_RETURN_int16_t(msg,  0);
 }
 
 /**
- * @brief Get field roll_manual from manual_control message
+ * @brief Get field y from manual_control message
  *
- * @return roll control enabled auto:0, manual:1
+ * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
  */
-static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
+static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  17);
+	return _MAV_RETURN_int16_t(msg,  2);
 }
 
 /**
- * @brief Get field pitch_manual from manual_control message
+ * @brief Get field z from manual_control message
  *
- * @return pitch auto:0, manual:1
+ * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.
  */
-static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
+static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  18);
+	return _MAV_RETURN_int16_t(msg,  4);
 }
 
 /**
- * @brief Get field yaw_manual from manual_control message
+ * @brief Get field r from manual_control message
  *
- * @return yaw auto:0, manual:1
+ * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
  */
-static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
+static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  19);
+	return _MAV_RETURN_int16_t(msg,  6);
 }
 
 /**
- * @brief Get field thrust_manual from manual_control message
+ * @brief Get field buttons from manual_control message
  *
- * @return thrust auto:0, manual:1
+ * @return A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
  */
-static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
+static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  20);
+	return _MAV_RETURN_uint16_t(msg,  8);
 }
 
 /**
@@ -305,16 +242,13 @@ static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink
 static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
 {
 #if MAVLINK_NEED_BYTE_SWAP
-	manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
-	manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
-	manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg);
-	manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg);
+	manual_control->x = mavlink_msg_manual_control_get_x(msg);
+	manual_control->y = mavlink_msg_manual_control_get_y(msg);
+	manual_control->z = mavlink_msg_manual_control_get_z(msg);
+	manual_control->r = mavlink_msg_manual_control_get_r(msg);
+	manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg);
 	manual_control->target = mavlink_msg_manual_control_get_target(msg);
-	manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg);
-	manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
-	manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
-	manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
 #else
-	memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
+	memcpy(manual_control, _MAV_PAYLOAD(msg), 11);
 #endif
 }
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
index a5b28021d..a4d40da38 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
@@ -5,16 +5,16 @@
 typedef struct __mavlink_rc_channels_raw_t
 {
  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
- uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
- uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
- uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
- uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
- uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
- uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
- uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
- uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
+ uint16_t chan1_raw; ///< RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
+ uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
 } mavlink_rc_channels_raw_t;
 
 #define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22
@@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_raw_t
  * @param msg The MAVLink message to compress the data into
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds
- * @param chan2_raw RC channel 2 value, in microseconds
- * @param chan3_raw RC channel 3 value, in microseconds
- * @param chan4_raw RC channel 4 value, in microseconds
- * @param chan5_raw RC channel 5 value, in microseconds
- * @param chan6_raw RC channel 6 value, in microseconds
- * @param chan7_raw RC channel 7 value, in microseconds
- * @param chan8_raw RC channel 8 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8
  * @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 port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds
- * @param chan2_raw RC channel 2 value, in microseconds
- * @param chan3_raw RC channel 3 value, in microseconds
- * @param chan4_raw RC channel 4 value, in microseconds
- * @param chan5_raw RC channel 5 value, in microseconds
- * @param chan6_raw RC channel 6 value, in microseconds
- * @param chan7_raw RC channel 7 value, in microseconds
- * @param chan8_raw RC channel 8 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uin
  * @param chan MAVLink channel to send the message
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds
- * @param chan2_raw RC channel 2 value, in microseconds
- * @param chan3_raw RC channel 3 value, in microseconds
- * @param chan4_raw RC channel 4 value, in microseconds
- * @param chan5_raw RC channel 5 value, in microseconds
- * @param chan6_raw RC channel 6 value, in microseconds
- * @param chan7_raw RC channel 7 value, in microseconds
- * @param chan8_raw RC channel 8 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_raw RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan2_raw RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan3_raw RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan4_raw RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan5_raw RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan6_raw RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan7_raw RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param chan8_raw RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlin
 /**
  * @brief Get field port from rc_channels_raw message
  *
- * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
  */
 static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg)
 {
@@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message
 /**
  * @brief Get field chan1_raw from rc_channels_raw message
  *
- * @return RC channel 1 value, in microseconds
+ * @return RC channel 1 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
 {
@@ -261,7 +261,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_m
 /**
  * @brief Get field chan2_raw from rc_channels_raw message
  *
- * @return RC channel 2 value, in microseconds
+ * @return RC channel 2 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
 {
@@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_m
 /**
  * @brief Get field chan3_raw from rc_channels_raw message
  *
- * @return RC channel 3 value, in microseconds
+ * @return RC channel 3 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
 {
@@ -281,7 +281,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_m
 /**
  * @brief Get field chan4_raw from rc_channels_raw message
  *
- * @return RC channel 4 value, in microseconds
+ * @return RC channel 4 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
 {
@@ -291,7 +291,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_m
 /**
  * @brief Get field chan5_raw from rc_channels_raw message
  *
- * @return RC channel 5 value, in microseconds
+ * @return RC channel 5 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
 {
@@ -301,7 +301,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_m
 /**
  * @brief Get field chan6_raw from rc_channels_raw message
  *
- * @return RC channel 6 value, in microseconds
+ * @return RC channel 6 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
 {
@@ -311,7 +311,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_m
 /**
  * @brief Get field chan7_raw from rc_channels_raw message
  *
- * @return RC channel 7 value, in microseconds
+ * @return RC channel 7 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
 {
@@ -321,7 +321,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_m
 /**
  * @brief Get field chan8_raw from rc_channels_raw message
  *
- * @return RC channel 8 value, in microseconds
+ * @return RC channel 8 value, in microseconds. A value of 65535 implies the channel is unused.
  */
 static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
 {
@@ -331,7 +331,7 @@ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_m
 /**
  * @brief Get field rssi from rc_channels_raw message
  *
- * @return Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  */
 static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
index 23c14c03d..dd21d4162 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
@@ -5,16 +5,16 @@
 typedef struct __mavlink_rc_channels_scaled_t
 {
  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
+ int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
 } mavlink_rc_channels_scaled_t;
 
 #define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 22
@@ -47,16 +47,16 @@ typedef struct __mavlink_rc_channels_scaled_t
  * @param msg The MAVLink message to compress the data into
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -105,16 +105,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, ui
  * @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 port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -175,16 +175,16 @@ static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id,
  * @param chan MAVLink channel to send the message
  *
  * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
+ * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
+ * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -241,7 +241,7 @@ static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mav
 /**
  * @brief Get field port from rc_channels_scaled message
  *
- * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
  */
 static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg)
 {
@@ -251,7 +251,7 @@ static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_mess
 /**
  * @brief Get field chan1_scaled from rc_channels_scaled message
  *
- * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
 {
@@ -261,7 +261,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavl
 /**
  * @brief Get field chan2_scaled from rc_channels_scaled message
  *
- * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
 {
@@ -271,7 +271,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavl
 /**
  * @brief Get field chan3_scaled from rc_channels_scaled message
  *
- * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
 {
@@ -281,7 +281,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavl
 /**
  * @brief Get field chan4_scaled from rc_channels_scaled message
  *
- * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
 {
@@ -291,7 +291,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavl
 /**
  * @brief Get field chan5_scaled from rc_channels_scaled message
  *
- * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
 {
@@ -301,7 +301,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavl
 /**
  * @brief Get field chan6_scaled from rc_channels_scaled message
  *
- * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
 {
@@ -311,7 +311,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavl
 /**
  * @brief Get field chan7_scaled from rc_channels_scaled message
  *
- * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
 {
@@ -321,7 +321,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavl
 /**
  * @brief Get field chan8_scaled from rc_channels_scaled message
  *
- * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
+ * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) 32767.
  */
 static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
 {
@@ -331,7 +331,7 @@ static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavl
 /**
  * @brief Get field rssi from rc_channels_scaled message
  *
- * @return Receive signal strength indicator, 0: 0%, 255: 100%
+ * @return Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
  */
 static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg)
 {
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
index 45c94d8b9..dbf0b2035 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
@@ -4,7 +4,7 @@
 
 typedef struct __mavlink_servo_output_raw_t
 {
- uint32_t time_usec; ///< Timestamp (microseconds since system boot)
+ uint32_t time_boot_ms; ///< Timestamp (microseconds since system boot)
  uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
  uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
  uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
@@ -24,7 +24,7 @@ typedef struct __mavlink_servo_output_raw_t
 #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
 	"SERVO_OUTPUT_RAW", \
 	10, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
+	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_boot_ms) }, \
          { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
          { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
          { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
@@ -44,7 +44,7 @@ typedef struct __mavlink_servo_output_raw_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_usec Timestamp (microseconds since system boot)
+ * @param time_boot_ms Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -57,11 +57,11 @@ typedef struct __mavlink_servo_output_raw_t
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+						       uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_usec);
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -75,7 +75,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
+	packet.time_boot_ms = time_boot_ms;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -90,7 +90,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-	return mavlink_finalize_message(msg, system_id, component_id, 21, 222);
+	return mavlink_finalize_message(msg, system_id, component_id, 21, 242);
 }
 
 /**
@@ -99,7 +99,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
  * @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_usec Timestamp (microseconds since system boot)
+ * @param time_boot_ms Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -113,11 +113,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint
  */
 static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
+						           uint32_t time_boot_ms,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_usec);
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -131,7 +131,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
+	packet.time_boot_ms = time_boot_ms;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -146,7 +146,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 242);
 }
 
 /**
@@ -159,14 +159,14 @@ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
 {
-	return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
+	return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_boot_ms, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
 }
 
 /**
  * @brief Send a servo_output_raw message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (microseconds since system boot)
+ * @param time_boot_ms Timestamp (microseconds since system boot)
  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  * @param servo1_raw Servo output 1 value, in microseconds
  * @param servo2_raw Servo output 2 value, in microseconds
@@ -179,11 +179,11 @@ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, ui
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
+static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[21];
-	_mav_put_uint32_t(buf, 0, time_usec);
+	_mav_put_uint32_t(buf, 0, time_boot_ms);
 	_mav_put_uint16_t(buf, 4, servo1_raw);
 	_mav_put_uint16_t(buf, 6, servo2_raw);
 	_mav_put_uint16_t(buf, 8, servo3_raw);
@@ -194,10 +194,10 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 	_mav_put_uint16_t(buf, 18, servo8_raw);
 	_mav_put_uint8_t(buf, 20, port);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 242);
 #else
 	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
+	packet.time_boot_ms = time_boot_ms;
 	packet.servo1_raw = servo1_raw;
 	packet.servo2_raw = servo2_raw;
 	packet.servo3_raw = servo3_raw;
@@ -208,7 +208,7 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 	packet.servo8_raw = servo8_raw;
 	packet.port = port;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 242);
 #endif
 }
 
@@ -218,11 +218,11 @@ static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uin
 
 
 /**
- * @brief Get field time_usec from servo_output_raw message
+ * @brief Get field time_boot_ms from servo_output_raw message
  *
  * @return Timestamp (microseconds since system boot)
  */
-static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg)
+static inline uint32_t mavlink_msg_servo_output_raw_get_time_boot_ms(const mavlink_message_t* msg)
 {
 	return _MAV_RETURN_uint32_t(msg,  0);
 }
@@ -326,7 +326,7 @@ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink
 static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
 {
 #if MAVLINK_NEED_BYTE_SWAP
-	servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg);
+	servo_output_raw->time_boot_ms = mavlink_msg_servo_output_raw_get_time_boot_ms(msg);
 	servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
 	servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
 	servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h
index 9b0cbd583..2bcaac77a 100644
--- a/mavlink/include/mavlink/v1.0/common/testsuite.h
+++ b/mavlink/include/mavlink/v1.0/common/testsuite.h
@@ -1327,7 +1327,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
 	};
 	mavlink_servo_output_raw_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
+        	packet1.time_boot_ms = packet_in.time_boot_ms;
         	packet1.servo1_raw = packet_in.servo1_raw;
         	packet1.servo2_raw = packet_in.servo2_raw;
         	packet1.servo3_raw = packet_in.servo3_raw;
@@ -1346,12 +1346,12 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -1364,7 +1364,7 @@ static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_i
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
+	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
 	mavlink_msg_servo_output_raw_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
@@ -2909,27 +2909,21 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
 	mavlink_manual_control_t packet_in = {
-		17.0,
-	45.0,
-	73.0,
-	101.0,
-	53,
-	120,
-	187,
-	254,
-	65,
+		17235,
+	17339,
+	17443,
+	17547,
+	17651,
+	163,
 	};
 	mavlink_manual_control_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.thrust = packet_in.thrust;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        	packet1.r = packet_in.r;
+        	packet1.buttons = packet_in.buttons;
         	packet1.target = packet_in.target;
-        	packet1.roll_manual = packet_in.roll_manual;
-        	packet1.pitch_manual = packet_in.pitch_manual;
-        	packet1.yaw_manual = packet_in.yaw_manual;
-        	packet1.thrust_manual = packet_in.thrust_manual;
         
         
 
@@ -2939,12 +2933,12 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+	mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
 	mavlink_msg_manual_control_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+	mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
 	mavlink_msg_manual_control_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -2957,7 +2951,7 @@ static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id,
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual );
+	mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
 	mavlink_msg_manual_control_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 6ae47a8b6..f309be330 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 "Thu Sep  6 15:30:32 2012"
+#define MAVLINK_BUILD_DATE "Fri Sep 14 11:05:17 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
index 9a3567fbe..0f9c0ba49 100644
--- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
@@ -12,11 +12,11 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 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, 243, 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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h
index 3773e4a2e..5d7e54e82 100644
--- a/mavlink/include/mavlink/v1.0/matrixpilot/version.h
+++ b/mavlink/include/mavlink/v1.0/matrixpilot/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Sep  6 15:30:21 2012"
+#define MAVLINK_BUILD_DATE "Fri Sep 14 10:42:05 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/mavlink/include/mavlink/v1.0/mavlink_helpers.h b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
index 28ef24cbf..f0f3404a2 100644
--- a/mavlink/include/mavlink/v1.0/mavlink_helpers.h
+++ b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
@@ -10,7 +10,7 @@
 #endif
 
 /*
-  internal function to give access to the channel status for each channel
+ * Internal function to give access to the channel status for each channel
  */
 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
 {
@@ -19,7 +19,7 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
 }
 
 /*
- internal function to give access to the channel buffer for each channel
+ * Internal function to give access to the channel buffer for each channel
  */
 MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
 {
@@ -37,6 +37,15 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
 }
 
 /**
+ * @brief Reset the status of a channel.
+ */
+MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
+{
+	mavlink_status_t *status = mavlink_get_channel_status(chan);
+	status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+}
+
+/**
  * @brief Finalize a MAVLink message with channel assignment
  *
  * This function calculates the checksum and sets length and aircraft id correctly.
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
index e4beb98e8..74ba973dd 100644
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+++ b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
@@ -12,11 +12,11 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 12, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 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, 243, 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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 175bd243e..c5fa7d964 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 "Thu Sep  6 15:30:14 2012"
+#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:07 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/mavlink/include/mavlink/v1.0/protocol.h b/mavlink/include/mavlink/v1.0/protocol.h
index 5283779d4..019ae5fc4 100644
--- a/mavlink/include/mavlink/v1.0/protocol.h
+++ b/mavlink/include/mavlink/v1.0/protocol.h
@@ -43,6 +43,7 @@
 
 /* always include the prototypes to ensure we don't get out of sync */
 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
 #if MAVLINK_CRC_EXTRA
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
 						      uint8_t chan, uint8_t length, uint8_t crc_extra);
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
index bd6702d5f..906cd0187 100644
--- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
+++ b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
@@ -12,11 +12,11 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0}
 #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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 242, 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, 243, 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, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 b95aced5b..81879520c 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 "Thu Sep  6 15:30:32 2012"
+#define MAVLINK_BUILD_DATE "Fri Sep 14 10:41:18 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101